Mercurial > cortex

comparison thesis/cortex.org @ 539:fc116e960f56

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
more elaboration
author Robert McIntyre <rlm@mit.edu>
date Sun, 27 Apr 2014 21:52:39 -0400
parents cfbcd2b11087
children def6f62831df
comparison
equal deleted inserted replaced
538:cfbcd2b11087 539:fc116e960f56
3214 system myself, I generally see no errors in action identification. 3214 system myself, I generally see no errors in action identification.
3215 3215
3216 ** COMMENT Digression: Learning touch sensor layout through free play 3216 ** COMMENT Digression: Learning touch sensor layout through free play
3217 3217
3218 In the previous section I showed how to compute actions in terms of 3218 In the previous section I showed how to compute actions in terms of
3219 body-centered predicates which relied on the average touch 3219 body-centered predicates, but some of those predicates relied on
3220 activation of pre-defined regions of the worm's skin. What if, 3220 the average touch activation of pre-defined regions of the worm's
3221 instead of receiving touch pre-grouped into the six faces of each 3221 skin. What if, instead of receiving touch pre-grouped into the six
3222 worm segment, the true topology of the worm's skin was unknown? 3222 faces of each worm segment, the true topology of the worm's skin
3223 This is more similar to how a nerve fiber bundle might be 3223 was unknown? This is more similar to how a nerve fiber bundle might
3224 arranged. While two fibers that are close in a nerve bundle /might/ 3224 be arranged inside an animal. While two fibers that are close in a
3225 correspond to two touch sensors that are close together on the 3225 nerve bundle /might/ correspond to two touch sensors that are close
3226 skin, the process of taking a complicated surface and forcing it 3226 together on the skin, the process of taking a complicated surface
3227 into essentially a circle requires some cuts and rearrangements. 3227 and forcing it into essentially a circle requires that some regions
3228 of skin that are close together in the animal end up far apart in
3229 the nerve bundle.
3228 3230
3229 In this section I show how to automatically learn the skin-topology of 3231 In this section I show how to automatically learn the skin-topology of
3230 a worm segment by free exploration. As the worm rolls around on the 3232 a worm segment by free exploration. As the worm rolls around on the
3231 floor, large sections of its surface get activated. If the worm has 3233 floor, large sections of its surface get activated. If the worm has
3232 stopped moving, then whatever region of skin that is touching the 3234 stopped moving, then whatever region of skin that is touching the