Mercurial > cortex

     1 @@ -3210,13 +3329,14 @@

     2    

     3    In this thesis you have seen the =CORTEX= system, a complete

     4    environment for creating simulated creatures. You have seen how to

     5 -  implement five senses including touch, proprioception, hearing,

     6 -  vision, and muscle tension. You have seen how to create new creatues

     7 -  using blender, a 3D modeling tool. I hope that =CORTEX= will be

     8 -  useful in further research projects. To this end I have included the

     9 -  full source to =CORTEX= along with a large suite of tests and

    10 -  examples. I have also created a user guide for =CORTEX= which is

    11 -  inculded in an appendix to this thesis.

    12 +  implement five senses: touch, proprioception, hearing, vision, and

    13 +  muscle tension. You have seen how to create new creatues using

    14 +  blender, a 3D modeling tool. I hope that =CORTEX= will be useful in

    15 +  further research projects. To this end I have included the full

    16 +  source to =CORTEX= along with a large suite of tests and examples. I

    17 +  have also created a user guide for =CORTEX= which is inculded in an

    18 +  appendix to this thesis \ref{}.

    19 +# dxh: todo reference appendix

    20  

    21    You have also seen how I used =CORTEX= as a platform to attach the

    22    /action recognition/ problem, which is the problem of recognizing

    23 

    24 @@ -2888,7 +3007,7 @@

    25     #+end_src

    26     #+end_listing

    27    

    28 -** Efficient action recognition with =EMPATH=

    29 +** =EMPATH= recognizes actions efficiently

    30     

    31     To use =EMPATH= with the worm, I first need to gather a set of

    32     experiences from the worm that includes the actions I want to

    33 

    34 @@ -3044,9 +3163,9 @@

    35    to interpretation, and dissaggrement between empathy and experience

    36    is more excusable.

    37  

    38 -** Digression: bootstrapping touch using free exploration

    39 -

    40 -   In the previous section I showed how to compute actions in terms of

    41 +** Digression: Learn touch sensor layout through haptic experimentation, instead 

    42 +# Boostraping touch using free exploration   

    43 +In the previous section I showed how to compute actions in terms of

    44     body-centered predicates which relied averate touch activation of

    45     pre-defined regions of the worm's skin. What if, instead of recieving

    46     touch pre-grouped into the six faces of each worm segment, the true

    47 

    48 @@ -2193,7 +2311,7 @@

    49      #+ATTR_LaTeX: :width 11cm

    50      [[./images/proprio.png]]

    51  

    52 -** Muscles are both effectors and sensors

    53 +** Muscles contain both sensors and effectors

    54  

    55     Surprisingly enough, terrestrial creatures only move by using

    56     torque applied about their joints. There's not a single straight

    57 

    58 @@ -2059,7 +2177,7 @@

    59      #+ATTR_LaTeX: :width 15cm

    60      [[./images/touch-cube.png]]

    61  

    62 -** Proprioception is the sense that makes everything ``real''

    63 +** Proprioception provides knowledge of your own body's position

    64  

    65     Close your eyes, and touch your nose with your right index finger.

    66     How did you do it? You could not see your hand, and neither your

    67 

    68 @@ -1257,8 +1375,8 @@

    69      community and is now (in modified form) part of a system for

    70      capturing in-game video to a file.

    71  

    72 -** Hearing is hard; =CORTEX= does it right

    73 -   

    74 +** ...but hearing must be built from scratch

    75 +# is hard; =CORTEX= does it right

    76     At the end of this section I will have simulated ears that work the

    77     same way as the simulated eyes in the last section. I will be able to

    78     place any number of ear-nodes in a blender file, and they will bind to

    79 

    80 @@ -1565,7 +1683,7 @@

    81      jMonkeyEngine3 community and is used to record audio for demo

    82      videos.

    83  

    84 -** Touch uses hundreds of hair-like elements

    85 +** Hundreds of hair-like elements provide a sense of touch

    86  

    87     Touch is critical to navigation and spatial reasoning and as such I

    88     need a simulated version of it to give to my AI creatures.

    89 

    90 @@ -956,7 +1074,7 @@

    91      #+ATTR_LaTeX: :width 15cm

    92      [[./images/physical-hand.png]]

    93  

    94 -** Eyes reuse standard video game components

    95 +** Sight reuses standard video game components...

    96  

    97     Vision is one of the most important senses for humans, so I need to

    98     build a simulated sense of vision for my AI. I will do this with

    99 @@ -459,8 +577,8 @@

   100     simulations of very simple creatures in =CORTEX= generally run at

   101     40x on my machine!

   102  

   103 -** What is a sense?

   104 -   

   105 +** All sense organs are two-dimensional surfaces

   106 +# What is a sense?   

   107     If =CORTEX= is to support a wide variety of senses, it would help

   108     to have a better understanding of what a ``sense'' actually is!

   109     While vision, touch, and hearing all seem like they are quite
author	Robert McIntyre <rlm@mit.edu>
date	Sun, 30 Mar 2014 10:50:05 -0400
parents	4c4d45f6f30b
children