Mercurial > cortex
comparison thesis/cortex.org @ 542:97d45f796ad6
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author | Robert McIntyre <rlm@mit.edu> |
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date | Sun, 27 Apr 2014 22:27:49 -0400 |
parents | d947636fe0ee |
children | b2c66ea58c39 |
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541:d947636fe0ee | 542:97d45f796ad6 |
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3379 completely scrambled. The cross shape is just for convenience. This | 3379 completely scrambled. The cross shape is just for convenience. This |
3380 example justifies the use of pre-defined touch regions in =EMPATH=. | 3380 example justifies the use of pre-defined touch regions in =EMPATH=. |
3381 | 3381 |
3382 * Contributions | 3382 * Contributions |
3383 | 3383 |
3384 In this thesis you have seen the =CORTEX= system, a complete | 3384 The big idea behind this thesis is a new way to represent and |
3385 environment for creating simulated creatures. You have seen how to | 3385 recognize physical actions -- empathic representation. Actions are |
3386 implement five senses: touch, proprioception, hearing, vision, and | 3386 represented as predicates which have available the totality of a |
3387 muscle tension. You have seen how to create new creatures using | 3387 creature's sensory abilities. To recognize the physical actions of |
3388 blender, a 3D modeling tool. I hope that =CORTEX= will be useful in | 3388 another creature similar to yourself, you imagine what they would |
3389 further research projects. To this end I have included the full | 3389 feel by examining the position of their body and relating it to your |
3390 source to =CORTEX= along with a large suite of tests and examples. I | 3390 own previous experience. |
3391 have also created a user guide for =CORTEX= which is included in an | 3391 |
3392 appendix to this thesis. | 3392 Empathic description of physical actions is very robust and general. |
3393 | 3393 Because the representation is body-centered, it avoids the fragility |
3394 You have also seen how I used =CORTEX= as a platform to attack the | 3394 of learning from example videos. Because it relies on all of a |
3395 /action recognition/ problem, which is the problem of recognizing | 3395 creature's senses, it can describe exactly what an action /feels |
3396 actions in video. You saw a simple system called =EMPATH= which | 3396 like/ without getting caught up in irrelevant details such as visual |
3397 identifies actions by first describing actions in a body-centered, | 3397 appearance. I think it is important that a correct description of |
3398 rich sense language, then inferring a full range of sensory | 3398 jumping (for example) should not waste even a single bit on the |
3399 experience from limited data using previous experience gained from | 3399 color of a person's clothes or skin; empathic representation can |
3400 free play. | 3400 avoid this waste by describing jumping in terms of touch, muscle |
3401 contractions, and the brief feeling of weightlessness. Empathic | |
3402 representation is very low-level in that it describes actions using | |
3403 concrete sensory data with little abstraction, but it has the | |
3404 generality of much more abstract representations! | |
3405 | |
3406 Another important contribution of this thesis is the development of | |
3407 the =CORTEX= system, a complete environment for creating simulated | |
3408 creatures. You have seen how to implement five senses: touch, | |
3409 proprioception, hearing, vision, and muscle tension. You have seen | |
3410 how to create new creatures using blender, a 3D modeling tool. | |
3411 | |
3412 I hope that =CORTEX= will be useful in further research projects. To | |
3413 this end I have included the full source to =CORTEX= along with a | |
3414 large suite of tests and examples. I have also created a user guide | |
3415 for =CORTEX= which is included in an appendix to this thesis. | |
3401 | 3416 |
3402 As a minor digression, you also saw how I used =CORTEX= to enable a | 3417 As a minor digression, you also saw how I used =CORTEX= to enable a |
3403 tiny worm to discover the topology of its skin simply by rolling on | 3418 tiny worm to discover the topology of its skin simply by rolling on |
3404 the ground. | 3419 the ground. |
3405 | 3420 |
3409 =CORTEX= supports many features lacking in other systems, such | 3424 =CORTEX= supports many features lacking in other systems, such |
3410 proper simulation of hearing. It is easy to create new =CORTEX= | 3425 proper simulation of hearing. It is easy to create new =CORTEX= |
3411 creatures using Blender, a free 3D modeling program. | 3426 creatures using Blender, a free 3D modeling program. |
3412 | 3427 |
3413 - =EMPATH=, which uses =CORTEX= to identify the actions of a | 3428 - =EMPATH=, which uses =CORTEX= to identify the actions of a |
3414 worm-like creature using a computational model of empathy. | 3429 worm-like creature using a computational model of empathy. This |
3430 empathic representation of actions is an important new kind of | |
3431 representation for physical actions. | |
3415 | 3432 |
3416 #+BEGIN_LaTeX | 3433 #+BEGIN_LaTeX |
3417 \newpage | 3434 \newpage |
3418 \appendix | 3435 \appendix |
3419 #+END_LaTeX | 3436 #+END_LaTeX |