cortex: thesis/cortex.org comparison

comparison thesis/cortex.org @ 509:81c845a91378

completed initial render at 81 pages, but images are unacceptably scattered.

author	Robert McIntyre <rlm@mit.edu>
date	Sun, 30 Mar 2014 01:22:23 -0400
parents	c11d3fc3e6f0
children	f639e2139ce2

comparison

equal deleted inserted replaced

-:c11d3fc3e6f0
+:81c845a91378
 #+caption: Body-centerd actions are best expressed in a body-centered
 #+caption: language. This code detects when the worm has curled into a
 #+caption: full circle. Imagine how you would replicate this functionality
 #+caption: using low-level pixel features such as HOG filters!
 #+name: grand-circle-intro
-#+attr_latex: [htpb]
+#+begin_listing clojure
-#+begin_listing clojure
 #+begin_src clojure
 (defn grand-circle?
 "Does the worm form a majestic circle (one end touching the other)?"
 [experiences]
 (and (curled? experiences)
 another.
 #+caption: Program for extending =OpenAL= to support multiple
 #+caption: listeners via context copying/switching.
 #+name: sync-openal-sources
-#+begin_listing C
+#+begin_listing c
-#+BEGIN_SRC C
+#+BEGIN_SRC c
 void syncSources(ALsource *masterSource, ALsource *slaveSource,
 		 ALCcontext *masterCtx, ALCcontext *slaveCtx){
 ALuint master = masterSource->source;
 ALuint slave = slaveSource->source;
 ALCcontext *current = alcGetCurrentContext();
 #+caption: the ball is constantally emiting a pure tone of
 #+caption: constant volume. As it approaches the cubes, they each
 #+caption: change color in response to the sound.
 #+name: sound-cubes.
 #+ATTR_LaTeX: :width 10cm
-[[./images/aurellem-gray.png]]
+[[./images/java-hearing-test.png]]
 This system of hearing has also been co-opted by the
 jMonkeyEngine3 community and is used to record audio for demo
 videos.
 - Inverse kinematics :: experiments in sense guided motor control
 are easy given =CORTEX='s support -- you can get right to the
 hard control problems without worrying about physics or
 senses.
-* COMMENT Empathy in a simulated worm
+* Empathy in a simulated worm
 Here I develop a computational model of empathy, using =CORTEX= as a
 base. Empathy in this context is the ability to observe another
 creature and infer what sorts of sensations that creature is
 feeling. My empathy algorithm involves multiple phases. First is
 #+caption: of sensory experience, and only uses proprioceptive data. Even
 #+caption: this simple predicate, however, is automatically frame
 #+caption: independent and ignores vermopomorphic differences such as
 #+caption: worm textures and colors.
 #+name: curled
-#+attr_latex: [htpb]
+#+begin_listing clojure
-#+begin_listing clojure
 #+begin_src clojure
 (defn curled?
 "Is the worm curled up?"
 [experiences]
 (every?
 #+end_listing
 #+caption: Program for summarizing the touch information in a patch
 #+caption: of skin.
 #+name: touch-summary
-#+attr_latex: [htpb]
+#+begin_listing clojure
-#+begin_listing clojure
 #+begin_src clojure
 (defn contact
 "Determine how much contact a particular worm segment has with
 other objects. Returns a value between 0 and 1, where 1 is full
 contact and 0 is no contact."
 #+caption: uses a summary of the tactile information from the underbelly
 #+caption: of the worm, and is only true if every segment is touching the
 #+caption: floor. Note that this function contains no references to
 #+caption: proprioction at all.
 #+name: resting
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (def worm-segment-bottom (rect-region [8 15] [14 22]))
 (defn resting?
 #+caption: Program for detecting whether the worm is curled up into a
 #+caption: full circle. Here the embodied approach begins to shine, as
 #+caption: I am able to both use a previous action predicate (=curled?=)
 #+caption: as well as the direct tactile experience of the head and tail.
 #+name: grand-circle
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (def worm-segment-bottom-tip (rect-region [15 15] [22 22]))
 (def worm-segment-top-tip (rect-region [0 15] [7 22]))
 #+caption: wiggling this way also gives the worm an opportunity to learn
 #+caption: and recognize ``frustrated wiggling'', where the worm tries to
 #+caption: wiggle but can't. Frustrated wiggling is very visually different
 #+caption: from actual wiggling, but this definition gives it to us for free.
 #+name: wiggling
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (defn fft [nums]
 (map
 #(.getReal %)
 all the worm's senses.
 #+caption: Use the action predicates defined earlier to report on
 #+caption: what the worm is doing while in simulation.
 #+name: report-worm-activity
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (defn debug-experience
 [experiences text]
 (cond
 mistake.
 #+caption: Program to convert an experience vector into a
 #+caption: proprioceptively binned lookup function.
 #+name: bin
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (defn bin [digits]
 (fn [angles]
 (->> angles
 #+caption: Program to calculate empathy by tracing though \Phi-space
 #+caption: and finding the longest (ie. most coherent) interpretation
 #+caption: of the data.
 #+name: longest-thread
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (defn longest-thread
 "Find the longest thread from phi-index-sets. The index sets should
 be ordered from most recent to least recent."
 fill in the gaps.
 #+caption: Fill in blanks in sensory experience by replicating the most
 #+caption: recent experience.
 #+name: infer-nils
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (defn infer-nils
 "Replace nils with the next available non-nil element in the
 sequence, or barring that, 0."
 #+caption: Program to gather the worm's experiences into a vector for
 #+caption: further processing. The =motor-control-program= line uses
 #+caption: a motor control script that causes the worm to execute a series
 #+caption: of ``exercices'' that include all the action predicates.
 #+name: generate-phi-space
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (def do-all-the-things
 (concat
 curl-script
 #+end_listing
 #+caption: Use longest thread and a phi-space generated from a short
 #+caption: exercise routine to interpret actions during free play.
 #+name: empathy-debug
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (defn init []
 (def phi-space (generate-phi-space))
 (def phi-scan (gen-phi-scan phi-space)))
 action predicates as the real sensory experience.
 #+caption: Determine how closely empathy approximates actual
 #+caption: sensory data.
 #+name: test-empathy-accuracy
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (def worm-action-label
 (juxt grand-circle? curled? wiggling?))
 73%. This is based on very limited worm experience. By training the
 worm for longer, the accuracy dramatically improves.
 #+caption: Program to generate \Phi-space using manual training.
 #+name: manual-phi-space
-#+attr_latex: [htpb]
 #+begin_listing clojure
 #+begin_src clojure
 (defn init-interactive []
 (def phi-space
 (let [experiences (atom [])]
 deduce that the worm has six sides. Note that =learn-touch-regions=
 would work just as well even if the worm's touch sense data were
 completely scrambled. The cross shape is just for convienence. This
 example justifies the use of pre-defined touch regions in =EMPATH=.
-* COMMENT Contributions
+* Contributions
 In this thesis you have seen the =CORTEX= system, a complete
 environment for creating simulated creatures. You have seen how to
 implement five senses including touch, proprioception, hearing,
 vision, and muscle tension. You have seen how to create new creatues
 # - Sensory fleshing-out
 # - Classification
 #+BEGIN_LaTeX
 \appendix
 #+END_LaTeX
-* COMMENT Appendix: =CORTEX= User Guide
+* Appendix: =CORTEX= User Guide
 Those who write a thesis should endeavor to make their code not only
 accessable, but actually useable, as a way to pay back the community
 that made the thesis possible in the first place. This thesis would
 not be possible without Free Software such as jMonkeyEngine3,
 - =(load-bullet)=   :: unpack native libraries and initialize
 blender. This function is required before other world building
 functions are called.
 *** Creature Manipulation / Import
 - =(body! creature)= :: give the creature a physical body.
 - =(vision! creature)= :: give the creature a sense of vision.

Mercurial > cortex

comparison thesis/cortex.org @ 509:81c845a91378