1.1 --- a/org/worm_learn.clj	Wed Mar 19 22:47:13 2014 -0400
     1.2 +++ b/org/worm_learn.clj	Thu Mar 20 00:24:46 2014 -0400
     1.3 @@ -222,6 +222,43 @@
     1.4           (and (< 0.55 (contact worm-segment-bottom-tip tail-touch))
     1.5                (< 0.55 (contact worm-segment-top-tip    head-touch))))))
     1.6  
     1.7 +
     1.8 +(declare phi-space phi-scan)
     1.9 +
    1.10 +(defn next-phi-states
    1.11 +  "Given proprioception data, determine the most likely next sensory
    1.12 +   pattern from previous experience."
    1.13 +  [proprio phi-space phi-scan]
    1.14 +  (if-let [results (phi-scan proprio)]
    1.15 +    (mapv phi-space
    1.16 +          (filter (partial > (count phi-space))
    1.17 +                  (map inc results)))))
    1.18 +
    1.19 +(defn debug-experience
    1.20 +  [experiences]
    1.21 +  (cond
    1.22 +   (grand-circle? experiences) (println "Grand Circle")
    1.23 +   (curled? experiences)       (println "Curled")
    1.24 +   (wiggling? experiences)     (println "Wiggling")
    1.25 +   (resting? experiences)      (println "Resting")))
    1.26 +
    1.27 +
    1.28 +(defn debug-experience
    1.29 +  [experiences]
    1.30 +  ;; (println-repl
    1.31 +  ;;  (count (next-phi-states (:proprioception (peek experiences))
    1.32 +  ;;                          phi-space phi-scan)))
    1.33 +  (cond
    1.34 +   (grand-circle? experiences) (println "Grand Circle")
    1.35 +   (curled? experiences)       (println "Curled")
    1.36 +   (wiggling? experiences)     (println "Wiggling")
    1.37 +   (resting? experiences)      (println "Resting"))
    1.38 +  )
    1.39 +
    1.40 +
    1.41 +
    1.42 +
    1.43 +
    1.44  (def standard-world-view
    1.45    [(Vector3f. 4.207176, -3.7366982, 3.0816958)
    1.46     (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
    1.47 @@ -240,7 +277,8 @@
    1.48       :motor-control (:motor-control direct-control)
    1.49       :keybindings (:keybindings direct-control)
    1.50       :record nil
    1.51 -     :experiences nil
    1.52 +     :experiences (atom [])
    1.53 +     :experience-watch debug-experience
    1.54       :worm-model worm-model
    1.55       :end-frame nil}))
    1.56  
    1.57 @@ -252,15 +290,11 @@
    1.58  (defn record-experience! [experiences data]
    1.59    (swap! experiences #(conj % data)))
    1.60  
    1.61 -
    1.62 -
    1.63 -(declare phi-space phi-scan)
    1.64 -
    1.65  (defn worm-world
    1.66    [& {:keys [record motor-control keybindings view experiences
    1.67 -             worm-model end-frame] :as settings}]
    1.68 +             worm-model end-frame experience-watch] :as settings}]
    1.69    (let [{:keys [record motor-control keybindings view experiences
    1.70 -                worm-model end-frame]}
    1.71 +                worm-model end-frame experience-watch]}
    1.72          (merge (worm-world-defaults) settings)
    1.73          worm (doto (worm-model) (body!))
    1.74          touch   (touch! worm)
    1.75 @@ -298,13 +332,9 @@
    1.76               (record-experience!
    1.77                experiences {:touch touch-data
    1.78                             :proprioception proprioception-data
    1.79 -                           :muscle muscle-data})
    1.80 -             (cond
    1.81 -              (grand-circle? @experiences) (println "Grand Circle")
    1.82 -              (curled? @experiences)       (println "Curled")
    1.83 -              (wiggling? @experiences)     (println "Wiggling")
    1.84 -              (resting? @experiences)      (println "Resting"))
    1.85 -             )
    1.86 +                           :muscle muscle-data}))
    1.87 +           (when experience-watch
    1.88 +             (experience-watch @experiences))
    1.89             (muscle-display
    1.90              muscle-data
    1.91              (if record (dir! (File. record "muscle"))))
    1.92 @@ -333,7 +363,6 @@
    1.93          (motor-control-program worm-muscle-labels do-all-the-things)
    1.94          :experiences experiences})))
    1.95      @experiences))
    1.96 -  
    1.97  
    1.98  (defn bin [digits]
    1.99    (fn [angles]
   1.100 @@ -343,7 +372,9 @@
   1.101           (flatten)
   1.102           (mapv #(Math/round (* % (Math/pow 10 (dec digits))))))))
   1.103  
   1.104 -;; k-nearest neighbors with spatial binning.
   1.105 +;; k-nearest neighbors with spatial binning. Only returns a result if
   1.106 +;; the propriceptive data is within 10% of a previously recorded
   1.107 +;; result in all dimensions.
   1.108  (defn gen-phi-scan [phi-space]
   1.109    (let [bin-keys (map bin [3 2 1])
   1.110          bin-maps
   1.111 @@ -357,19 +388,8 @@
   1.112      (fn lookup [proprio-data]
   1.113        (some #(% proprio-data) lookups))))
   1.114  
   1.115 -;; (defn gen-phi-scan [phi-space]
   1.116 -;;   (let [bin-keys (map bin [3 2 1])
   1.117 -;;         bin-maps
   1.118 -;;         (map (fn [bin-key phi-space]
   1.119 -;;                (group-by (comp bin-key :proprioception) phi-space))
   1.120 -;;              bin-keys (repeat phi-space))
   1.121 -;;         lookups (map (fn [bin-key bin-map]
   1.122 -;;                        (fn [proprio] (bin-map (bin-key proprio))))
   1.123 -;;                      bin-keys bin-maps)]
   1.124 -;;     (fn lookup [proprio-data]
   1.125 -;;       (some #(% proprio-data) lookups))))
   1.126 -
   1.127  (defn init []
   1.128    (def phi-space (generate-phi-space))
   1.129    (def phi-scan (gen-phi-scan phi-space))
   1.130    )
   1.131 +