Mercurial > cortex
view thesis/dylan-accept.diff @ 571:819968c8a391
minor corrections.
author | Robert McIntyre <rlm@mit.edu> |
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date | Mon, 02 Mar 2015 10:04:16 -0800 |
parents | 447c3c8405a2 |
children |
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1 @@ -3210,13 +3329,14 @@3 In this thesis you have seen the =CORTEX= system, a complete4 environment for creating simulated creatures. You have seen how to5 - implement five senses including touch, proprioception, hearing,6 - vision, and muscle tension. You have seen how to create new creatues7 - using blender, a 3D modeling tool. I hope that =CORTEX= will be8 - useful in further research projects. To this end I have included the9 - full source to =CORTEX= along with a large suite of tests and10 - examples. I have also created a user guide for =CORTEX= which is11 - inculded in an appendix to this thesis.12 + implement five senses: touch, proprioception, hearing, vision, and13 + muscle tension. You have seen how to create new creatues using14 + blender, a 3D modeling tool. I hope that =CORTEX= will be useful in15 + further research projects. To this end I have included the full16 + source to =CORTEX= along with a large suite of tests and examples. I17 + have also created a user guide for =CORTEX= which is inculded in an18 + appendix to this thesis \ref{}.19 +# dxh: todo reference appendix21 You have also seen how I used =CORTEX= as a platform to attach the22 /action recognition/ problem, which is the problem of recognizing24 @@ -2888,7 +3007,7 @@25 #+end_src26 #+end_listing28 -** Efficient action recognition with =EMPATH=29 +** =EMPATH= recognizes actions efficiently31 To use =EMPATH= with the worm, I first need to gather a set of32 experiences from the worm that includes the actions I want to34 @@ -3044,9 +3163,9 @@35 to interpretation, and dissaggrement between empathy and experience36 is more excusable.38 -** Digression: bootstrapping touch using free exploration39 -40 - In the previous section I showed how to compute actions in terms of41 +** Digression: Learn touch sensor layout through haptic experimentation, instead42 +# Boostraping touch using free exploration43 +In the previous section I showed how to compute actions in terms of44 body-centered predicates which relied averate touch activation of45 pre-defined regions of the worm's skin. What if, instead of recieving46 touch pre-grouped into the six faces of each worm segment, the true48 @@ -2193,7 +2311,7 @@49 #+ATTR_LaTeX: :width 11cm50 [[./images/proprio.png]]52 -** Muscles are both effectors and sensors53 +** Muscles contain both sensors and effectors55 Surprisingly enough, terrestrial creatures only move by using56 torque applied about their joints. There's not a single straight58 @@ -2059,7 +2177,7 @@59 #+ATTR_LaTeX: :width 15cm60 [[./images/touch-cube.png]]62 -** Proprioception is the sense that makes everything ``real''63 +** Proprioception provides knowledge of your own body's position65 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 your68 @@ -1257,8 +1375,8 @@69 community and is now (in modified form) part of a system for70 capturing in-game video to a file.72 -** Hearing is hard; =CORTEX= does it right73 -74 +** ...but hearing must be built from scratch75 +# is hard; =CORTEX= does it right76 At the end of this section I will have simulated ears that work the77 same way as the simulated eyes in the last section. I will be able to78 place any number of ear-nodes in a blender file, and they will bind to80 @@ -1565,7 +1683,7 @@81 jMonkeyEngine3 community and is used to record audio for demo82 videos.84 -** Touch uses hundreds of hair-like elements85 +** Hundreds of hair-like elements provide a sense of touch87 Touch is critical to navigation and spatial reasoning and as such I88 need a simulated version of it to give to my AI creatures.90 @@ -956,7 +1074,7 @@91 #+ATTR_LaTeX: :width 15cm92 [[./images/physical-hand.png]]94 -** Eyes reuse standard video game components95 +** Sight reuses standard video game components...97 Vision is one of the most important senses for humans, so I need to98 build a simulated sense of vision for my AI. I will do this with99 @@ -459,8 +577,8 @@100 simulations of very simple creatures in =CORTEX= generally run at101 40x on my machine!103 -** What is a sense?104 -105 +** All sense organs are two-dimensional surfaces106 +# What is a sense?107 If =CORTEX= is to support a wide variety of senses, it would help108 to have a better understanding of what a ``sense'' actually is!109 While vision, touch, and hearing all seem like they are quite