rlm@513: @@ -3210,13 +3329,14 @@
rlm@513:    
rlm@513:    In this thesis you have seen the =CORTEX= system, a complete
rlm@513:    environment for creating simulated creatures. You have seen how to
rlm@513: -  implement five senses including touch, proprioception, hearing,
rlm@513: -  vision, and muscle tension. You have seen how to create new creatues
rlm@513: -  using blender, a 3D modeling tool. I hope that =CORTEX= will be
rlm@513: -  useful in further research projects. To this end I have included the
rlm@513: -  full source to =CORTEX= along with a large suite of tests and
rlm@513: -  examples. I have also created a user guide for =CORTEX= which is
rlm@513: -  inculded in an appendix to this thesis.
rlm@513: +  implement five senses: touch, proprioception, hearing, vision, and
rlm@513: +  muscle tension. You have seen how to create new creatues using
rlm@513: +  blender, a 3D modeling tool. I hope that =CORTEX= will be useful in
rlm@513: +  further research projects. To this end I have included the full
rlm@513: +  source to =CORTEX= along with a large suite of tests and examples. I
rlm@513: +  have also created a user guide for =CORTEX= which is inculded in an
rlm@513: +  appendix to this thesis \ref{}.
rlm@513: +# dxh: todo reference appendix
rlm@513:  
rlm@513:    You have also seen how I used =CORTEX= as a platform to attach the
rlm@513:    /action recognition/ problem, which is the problem of recognizing
rlm@514: 
rlm@514: @@ -2888,7 +3007,7 @@
rlm@514:     #+end_src
rlm@514:     #+end_listing
rlm@514:    
rlm@514: -** Efficient action recognition with =EMPATH=
rlm@514: +** =EMPATH= recognizes actions efficiently
rlm@514:     
rlm@514:     To use =EMPATH= with the worm, I first need to gather a set of
rlm@514:     experiences from the worm that includes the actions I want to
rlm@514: 
rlm@514: @@ -3044,9 +3163,9 @@
rlm@514:    to interpretation, and dissaggrement between empathy and experience
rlm@514:    is more excusable.
rlm@514:  
rlm@514: -** Digression: bootstrapping touch using free exploration
rlm@514: -
rlm@514: -   In the previous section I showed how to compute actions in terms of
rlm@514: +** Digression: Learn touch sensor layout through haptic experimentation, instead 
rlm@514: +# Boostraping touch using free exploration   
rlm@514: +In the previous section I showed how to compute actions in terms of
rlm@514:     body-centered predicates which relied averate touch activation of
rlm@514:     pre-defined regions of the worm's skin. What if, instead of recieving
rlm@514:     touch pre-grouped into the six faces of each worm segment, the true
rlm@514: 
rlm@514: @@ -2193,7 +2311,7 @@
rlm@514:      #+ATTR_LaTeX: :width 11cm
rlm@514:      [[./images/proprio.png]]
rlm@514:  
rlm@514: -** Muscles are both effectors and sensors
rlm@514: +** Muscles contain both sensors and effectors
rlm@514:  
rlm@514:     Surprisingly enough, terrestrial creatures only move by using
rlm@514:     torque applied about their joints. There's not a single straight
rlm@514: 
rlm@514: @@ -2059,7 +2177,7 @@
rlm@514:      #+ATTR_LaTeX: :width 15cm
rlm@514:      [[./images/touch-cube.png]]
rlm@514:  
rlm@514: -** Proprioception is the sense that makes everything ``real''
rlm@514: +** Proprioception provides knowledge of your own body's position
rlm@514:  
rlm@514:     Close your eyes, and touch your nose with your right index finger.
rlm@514:     How did you do it? You could not see your hand, and neither your
rlm@514: 
rlm@514: @@ -1257,8 +1375,8 @@
rlm@514:      community and is now (in modified form) part of a system for
rlm@514:      capturing in-game video to a file.
rlm@514:  
rlm@514: -** Hearing is hard; =CORTEX= does it right
rlm@514: -   
rlm@514: +** ...but hearing must be built from scratch
rlm@514: +# is hard; =CORTEX= does it right
rlm@514:     At the end of this section I will have simulated ears that work the
rlm@514:     same way as the simulated eyes in the last section. I will be able to
rlm@514:     place any number of ear-nodes in a blender file, and they will bind to
rlm@514: 
rlm@514: @@ -1565,7 +1683,7 @@
rlm@514:      jMonkeyEngine3 community and is used to record audio for demo
rlm@514:      videos.
rlm@514:  
rlm@514: -** Touch uses hundreds of hair-like elements
rlm@514: +** Hundreds of hair-like elements provide a sense of touch
rlm@514:  
rlm@514:     Touch is critical to navigation and spatial reasoning and as such I
rlm@514:     need a simulated version of it to give to my AI creatures.
rlm@514: 
rlm@514: @@ -956,7 +1074,7 @@
rlm@514:      #+ATTR_LaTeX: :width 15cm
rlm@514:      [[./images/physical-hand.png]]
rlm@514:  
rlm@514: -** Eyes reuse standard video game components
rlm@514: +** Sight reuses standard video game components...
rlm@514:  
rlm@514:     Vision is one of the most important senses for humans, so I need to
rlm@514:     build a simulated sense of vision for my AI. I will do this with
rlm@514: @@ -459,8 +577,8 @@
rlm@514:     simulations of very simple creatures in =CORTEX= generally run at
rlm@514:     40x on my machine!
rlm@514:  
rlm@514: -** What is a sense?
rlm@514: -   
rlm@514: +** All sense organs are two-dimensional surfaces
rlm@514: +# What is a sense?   
rlm@514:     If =CORTEX= is to support a wide variety of senses, it would help
rlm@514:     to have a better understanding of what a ``sense'' actually is!
rlm@514:     While vision, touch, and hearing all seem like they are quite