rlm@401: #+title: =CORTEX=
rlm@401: #+author: Robert McIntyre
rlm@401: #+email: rlm@mit.edu
rlm@401: #+description: Using embodied AI to facilitate Artificial Imagination.
rlm@401: #+keywords: AI, clojure, embodiment
rlm@401: #+SETUPFILE: ../../aurellem/org/setup.org
rlm@401: #+INCLUDE: ../../aurellem/org/level-0.org
rlm@401: #+babel: :mkdirp yes :noweb yes :exports both
rlm@401: #+OPTIONS: toc:nil, num:nil
rlm@401:
rlm@401: * Artificial Imagination
rlm@401: Imagine watching a video of someone skateboarding. When you watch
rlm@401: the video, you can imagine yourself skateboarding, and your
rlm@401: knowledge of the human body and its dynamics guides your
rlm@401: interpretation of the scene. For example, even if the skateboarder
rlm@401: is partially occluded, you can infer the positions of his arms and
rlm@401: body from your own knowledge of how your body would be positioned if
rlm@401: you were skateboarding. If the skateboarder suffers an accident, you
rlm@401: wince in sympathy, imagining the pain your own body would experience
rlm@401: if it were in the same situation. This empathy with other people
rlm@401: guides our understanding of whatever they are doing because it is a
rlm@401: powerful constraint on what is probable and possible. In order to
rlm@401: make use of this powerful empathy constraint, I need a system that
rlm@401: can generate and make sense of sensory data from the many different
rlm@401: senses that humans possess. The two key proprieties of such a system
rlm@401: are /embodiment/ and /imagination/.
rlm@401:
rlm@401: ** What is imagination?
rlm@401:
rlm@401: One kind of imagination is /sympathetic/ imagination: you imagine
rlm@401: yourself in the position of something/someone you are
rlm@401: observing. This type of imagination comes into play when you follow
rlm@401: along visually when watching someone perform actions, or when you
rlm@401: sympathetically grimace when someone hurts themselves. This type of
rlm@401: imagination uses the constraints you have learned about your own
rlm@401: body to highly constrain the possibilities in whatever you are
rlm@401: seeing. It uses all your senses to including your senses of touch,
rlm@401: proprioception, etc. Humans are flexible when it comes to "putting
rlm@401: themselves in another's shoes," and can sympathetically understand
rlm@401: not only other humans, but entities ranging from animals to cartoon
rlm@401: characters to [[http://www.youtube.com/watch?v=0jz4HcwTQmU][single dots]] on a screen!
rlm@401:
rlm@429: # and can infer intention from the actions of not only other humans,
rlm@429: # but also animals, cartoon characters, and even abstract moving dots
rlm@429: # on a screen!
rlm@429:
rlm@401: Another kind of imagination is /predictive/ imagination: you
rlm@401: construct scenes in your mind that are not entirely related to
rlm@401: whatever you are observing, but instead are predictions of the
rlm@401: future or simply flights of fancy. You use this type of imagination
rlm@401: to plan out multi-step actions, or play out dangerous situations in
rlm@401: your mind so as to avoid messing them up in reality.
rlm@401:
rlm@401: Of course, sympathetic and predictive imagination blend into each
rlm@401: other and are not completely separate concepts. One dimension along
rlm@401: which you can distinguish types of imagination is dependence on raw
rlm@401: sense data. Sympathetic imagination is highly constrained by your
rlm@401: senses, while predictive imagination can be more or less dependent
rlm@401: on your senses depending on how far ahead you imagine. Daydreaming
rlm@401: is an extreme form of predictive imagination that wanders through
rlm@401: different possibilities without concern for whether they are
rlm@401: related to whatever is happening in reality.
rlm@401:
rlm@401: For this thesis, I will mostly focus on sympathetic imagination and
rlm@401: the constraint it provides for understanding sensory data.
rlm@401:
rlm@401: ** What problems can imagination solve?
rlm@401:
rlm@401: Consider a video of a cat drinking some water.
rlm@401:
rlm@401: #+caption: A cat drinking some water. Identifying this action is beyond the state of the art for computers.
rlm@401: #+ATTR_LaTeX: width=5cm
rlm@401: [[../images/cat-drinking.jpg]]
rlm@401:
rlm@401: It is currently impossible for any computer program to reliably
rlm@401: label such an video as "drinking". I think humans are able to label
rlm@401: such video as "drinking" because they imagine /themselves/ as the
rlm@401: cat, and imagine putting their face up against a stream of water
rlm@401: and sticking out their tongue. In that imagined world, they can
rlm@401: feel the cool water hitting their tongue, and feel the water
rlm@401: entering their body, and are able to recognize that /feeling/ as
rlm@401: drinking. So, the label of the action is not really in the pixels
rlm@401: of the image, but is found clearly in a simulation inspired by
rlm@401: those pixels. An imaginative system, having been trained on
rlm@401: drinking and non-drinking examples and learning that the most
rlm@401: important component of drinking is the feeling of water sliding
rlm@401: down one's throat, would analyze a video of a cat drinking in the
rlm@401: following manner:
rlm@401:
rlm@401: - Create a physical model of the video by putting a "fuzzy" model
rlm@401: of its own body in place of the cat. Also, create a simulation of
rlm@401: the stream of water.
rlm@401:
rlm@401: - Play out this simulated scene and generate imagined sensory
rlm@401: experience. This will include relevant muscle contractions, a
rlm@401: close up view of the stream from the cat's perspective, and most
rlm@401: importantly, the imagined feeling of water entering the mouth.
rlm@401:
rlm@401: - The action is now easily identified as drinking by the sense of
rlm@401: taste alone. The other senses (such as the tongue moving in and
rlm@401: out) help to give plausibility to the simulated action. Note that
rlm@401: the sense of vision, while critical in creating the simulation,
rlm@401: is not critical for identifying the action from the simulation.
rlm@401:
rlm@401: More generally, I expect imaginative systems to be particularly
rlm@401: good at identifying embodied actions in videos.
rlm@401:
rlm@401: * Cortex
rlm@401:
rlm@401: The previous example involves liquids, the sense of taste, and
rlm@401: imagining oneself as a cat. For this thesis I constrain myself to
rlm@401: simpler, more easily digitizable senses and situations.
rlm@401:
rlm@401: My system, =CORTEX= performs imagination in two different simplified
rlm@401: worlds: /worm world/ and /stick-figure world/. In each of these
rlm@401: worlds, entities capable of imagination recognize actions by
rlm@401: simulating the experience from their own perspective, and then
rlm@401: recognizing the action from a database of examples.
rlm@401:
rlm@401: In order to serve as a framework for experiments in imagination,
rlm@401: =CORTEX= requires simulated bodies, worlds, and senses like vision,
rlm@401: hearing, touch, proprioception, etc.
rlm@401:
rlm@401: ** A Video Game Engine takes care of some of the groundwork
rlm@401:
rlm@401: When it comes to simulation environments, the engines used to
rlm@401: create the worlds in video games offer top-notch physics and
rlm@401: graphics support. These engines also have limited support for
rlm@401: creating cameras and rendering 3D sound, which can be repurposed
rlm@401: for vision and hearing respectively. Physics collision detection
rlm@401: can be expanded to create a sense of touch.
rlm@401:
rlm@401: jMonkeyEngine3 is one such engine for creating video games in
rlm@401: Java. It uses OpenGL to render to the screen and uses screengraphs
rlm@401: to avoid drawing things that do not appear on the screen. It has an
rlm@401: active community and several games in the pipeline. The engine was
rlm@401: not built to serve any particular game but is instead meant to be
rlm@401: used for any 3D game. I chose jMonkeyEngine3 it because it had the
rlm@401: most features out of all the open projects I looked at, and because
rlm@401: I could then write my code in Clojure, an implementation of LISP
rlm@401: that runs on the JVM.
rlm@401:
rlm@401: ** =CORTEX= Extends jMonkeyEngine3 to implement rich senses
rlm@401:
rlm@401: Using the game-making primitives provided by jMonkeyEngine3, I have
rlm@401: constructed every major human sense except for smell and
rlm@401: taste. =CORTEX= also provides an interface for creating creatures
rlm@401: in Blender, a 3D modeling environment, and then "rigging" the
rlm@401: creatures with senses using 3D annotations in Blender. A creature
rlm@401: can have any number of senses, and there can be any number of
rlm@401: creatures in a simulation.
rlm@401:
rlm@401: The senses available in =CORTEX= are:
rlm@401:
rlm@401: - [[../../cortex/html/vision.html][Vision]]
rlm@401: - [[../../cortex/html/hearing.html][Hearing]]
rlm@401: - [[../../cortex/html/touch.html][Touch]]
rlm@401: - [[../../cortex/html/proprioception.html][Proprioception]]
rlm@401: - [[../../cortex/html/movement.html][Muscle Tension]]
rlm@401:
rlm@401: * A roadmap for =CORTEX= experiments
rlm@401:
rlm@401: ** Worm World
rlm@401:
rlm@401: Worms in =CORTEX= are segmented creatures which vary in length and
rlm@401: number of segments, and have the senses of vision, proprioception,
rlm@401: touch, and muscle tension.
rlm@401:
rlm@401: #+attr_html: width=755
rlm@401: #+caption: This is the tactile-sensor-profile for the upper segment of a worm. It defines regions of high touch sensitivity (where there are many white pixels) and regions of low sensitivity (where white pixels are sparse).
rlm@401: [[../images/finger-UV.png]]
rlm@401:
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rlm@401:
rlm@401: A worm is trained in various actions such as sinusoidal movement,
rlm@401: curling, flailing, and spinning by directly playing motor
rlm@401: contractions while the worm "feels" the experience. These actions
rlm@401: are recorded both as vectors of muscle tension, touch, and
rlm@401: proprioceptive data, but also in higher level forms such as
rlm@401: frequencies of the various contractions and a symbolic name for the
rlm@401: action.
rlm@401:
rlm@401: Then, the worm watches a video of another worm performing one of
rlm@401: the actions, and must judge which action was performed. Normally
rlm@401: this would be an extremely difficult problem, but the worm is able
rlm@401: to greatly diminish the search space through sympathetic
rlm@401: imagination. First, it creates an imagined copy of its body which
rlm@401: it observes from a third person point of view. Then for each frame
rlm@401: of the video, it maneuvers its simulated body to be in registration
rlm@401: with the worm depicted in the video. The physical constraints
rlm@401: imposed by the physics simulation greatly decrease the number of
rlm@401: poses that have to be tried, making the search feasible. As the
rlm@401: imaginary worm moves, it generates imaginary muscle tension and
rlm@401: proprioceptive sensations. The worm determines the action not by
rlm@401: vision, but by matching the imagined proprioceptive data with
rlm@401: previous examples.
rlm@401:
rlm@401: By using non-visual sensory data such as touch, the worms can also
rlm@401: answer body related questions such as "did your head touch your
rlm@401: tail?" and "did worm A touch worm B?"
rlm@401:
rlm@401: The proprioceptive information used for action identification is
rlm@401: body-centric, so only the registration step is dependent on point
rlm@401: of view, not the identification step. Registration is not specific
rlm@401: to any particular action. Thus, action identification can be
rlm@401: divided into a point-of-view dependent generic registration step,
rlm@401: and a action-specific step that is body-centered and invariant to
rlm@401: point of view.
rlm@401:
rlm@401: ** Stick Figure World
rlm@401:
rlm@401: This environment is similar to Worm World, except the creatures are
rlm@401: more complicated and the actions and questions more varied. It is
rlm@401: an experiment to see how far imagination can go in interpreting
rlm@401: actions.