1.1 --- a/thesis/dylan-accept.diff	Sun Mar 30 10:41:18 2014 -0400
     1.2 +++ b/thesis/dylan-accept.diff	Sun Mar 30 10:50:05 2014 -0400
     1.3 @@ -20,3 +20,90 @@
     1.4   
     1.5     You have also seen how I used =CORTEX= as a platform to attach the
     1.6     /action recognition/ problem, which is the problem of recognizing
     1.7 +
     1.8 +@@ -2888,7 +3007,7 @@
     1.9 +    #+end_src
    1.10 +    #+end_listing
    1.11 +   
    1.12 +-** Efficient action recognition with =EMPATH=
    1.13 ++** =EMPATH= recognizes actions efficiently
    1.14 +    
    1.15 +    To use =EMPATH= with the worm, I first need to gather a set of
    1.16 +    experiences from the worm that includes the actions I want to
    1.17 +
    1.18 +@@ -3044,9 +3163,9 @@
    1.19 +   to interpretation, and dissaggrement between empathy and experience
    1.20 +   is more excusable.
    1.21 + 
    1.22 +-** Digression: bootstrapping touch using free exploration
    1.23 +-
    1.24 +-   In the previous section I showed how to compute actions in terms of
    1.25 ++** Digression: Learn touch sensor layout through haptic experimentation, instead 
    1.26 ++# Boostraping touch using free exploration   
    1.27 ++In the previous section I showed how to compute actions in terms of
    1.28 +    body-centered predicates which relied averate touch activation of
    1.29 +    pre-defined regions of the worm's skin. What if, instead of recieving
    1.30 +    touch pre-grouped into the six faces of each worm segment, the true
    1.31 +
    1.32 +@@ -2193,7 +2311,7 @@
    1.33 +     #+ATTR_LaTeX: :width 11cm
    1.34 +     [[./images/proprio.png]]
    1.35 + 
    1.36 +-** Muscles are both effectors and sensors
    1.37 ++** Muscles contain both sensors and effectors
    1.38 + 
    1.39 +    Surprisingly enough, terrestrial creatures only move by using
    1.40 +    torque applied about their joints. There's not a single straight
    1.41 +
    1.42 +@@ -2059,7 +2177,7 @@
    1.43 +     #+ATTR_LaTeX: :width 15cm
    1.44 +     [[./images/touch-cube.png]]
    1.45 + 
    1.46 +-** Proprioception is the sense that makes everything ``real''
    1.47 ++** Proprioception provides knowledge of your own body's position
    1.48 + 
    1.49 +    Close your eyes, and touch your nose with your right index finger.
    1.50 +    How did you do it? You could not see your hand, and neither your
    1.51 +
    1.52 +@@ -1257,8 +1375,8 @@
    1.53 +     community and is now (in modified form) part of a system for
    1.54 +     capturing in-game video to a file.
    1.55 + 
    1.56 +-** Hearing is hard; =CORTEX= does it right
    1.57 +-   
    1.58 ++** ...but hearing must be built from scratch
    1.59 ++# is hard; =CORTEX= does it right
    1.60 +    At the end of this section I will have simulated ears that work the
    1.61 +    same way as the simulated eyes in the last section. I will be able to
    1.62 +    place any number of ear-nodes in a blender file, and they will bind to
    1.63 +
    1.64 +@@ -1565,7 +1683,7 @@
    1.65 +     jMonkeyEngine3 community and is used to record audio for demo
    1.66 +     videos.
    1.67 + 
    1.68 +-** Touch uses hundreds of hair-like elements
    1.69 ++** Hundreds of hair-like elements provide a sense of touch
    1.70 + 
    1.71 +    Touch is critical to navigation and spatial reasoning and as such I
    1.72 +    need a simulated version of it to give to my AI creatures.
    1.73 +
    1.74 +@@ -956,7 +1074,7 @@
    1.75 +     #+ATTR_LaTeX: :width 15cm
    1.76 +     [[./images/physical-hand.png]]
    1.77 + 
    1.78 +-** Eyes reuse standard video game components
    1.79 ++** Sight reuses standard video game components...
    1.80 + 
    1.81 +    Vision is one of the most important senses for humans, so I need to
    1.82 +    build a simulated sense of vision for my AI. I will do this with
    1.83 +@@ -459,8 +577,8 @@
    1.84 +    simulations of very simple creatures in =CORTEX= generally run at
    1.85 +    40x on my machine!
    1.86 + 
    1.87 +-** What is a sense?
    1.88 +-   
    1.89 ++** All sense organs are two-dimensional surfaces
    1.90 ++# What is a sense?   
    1.91 +    If =CORTEX= is to support a wide variety of senses, it would help
    1.92 +    to have a better understanding of what a ``sense'' actually is!
    1.93 +    While vision, touch, and hearing all seem like they are quite