# HG changeset patch # User Robert McIntyre # Date 1398060771 14400 # Node ID fd74479db5cb90bc5dda1d36cedfeed557662752 # Parent ac747fa0a67844fe9c93d5c66b2ad530ef2a49d4# Parent 25f23cfd56ceae2e15108f8621aeb252a24221ca merge some winston updates. diff -r 25f23cfd56ce -r fd74479db5cb genesis.lyx --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/genesis.lyx Mon Apr 21 02:12:51 2014 -0400 @@ -0,0 +1,187 @@ +#LyX 2.0 created this file. For more info see http://www.lyx.org/ +\lyxformat 413 +\begin_document +\begin_header +\textclass beamer +\begin_preamble +\usetheme{default} +% or ... + +\setbeamercovered{transparent} +% or whatever (possibly just delete it) + +\beamertemplatenavigationsymbolsempty +\end_preamble +\use_default_options false +\maintain_unincluded_children false +\language english +\language_package default +\inputencoding auto +\fontencoding global +\font_roman times +\font_sans default +\font_typewriter default +\font_default_family default +\use_non_tex_fonts false +\font_sc false +\font_osf false +\font_sf_scale 100 +\font_tt_scale 100 + +\graphics default +\default_output_format default +\output_sync 0 +\bibtex_command default +\index_command default +\paperfontsize default +\spacing single +\use_hyperref false +\papersize default +\use_geometry true +\use_amsmath 2 +\use_esint 0 +\use_mhchem 1 +\use_mathdots 1 +\cite_engine basic +\use_bibtopic false +\use_indices false +\paperorientation portrait +\suppress_date false +\use_refstyle 0 +\index Index +\shortcut idx +\color #008000 +\end_index +\secnumdepth 2 +\tocdepth 2 +\paragraph_separation indent +\paragraph_indentation default +\quotes_language english +\papercolumns 1 +\papersides 1 +\paperpagestyle default +\tracking_changes false +\output_changes false +\html_math_output 0 +\html_css_as_file 0 +\html_be_strict false +\end_header + +\begin_body + +\begin_layout Title +CORTEX & EMPATH +\end_layout + +\begin_layout Subtitle +Problem solving using embodiment + simulation +\end_layout + +\begin_layout Author +Robert +\begin_inset space ~ +\end_inset + +McIntyre +\end_layout + +\begin_layout BeginFrame +What's this about? +\end_layout + +\begin_layout Itemize +CORTEX -- a souped up blocks world +\end_layout + +\begin_layout Itemize +EMPATH -- recognizing actions using empathy + embodiment +\end_layout + +\begin_layout Itemize +Some cool stuff I learned +\end_layout + +\begin_layout BeginFrame +Vision is really hard! +\end_layout + +\begin_layout Standard +\begin_inset Graphics + filename thesis/images/fat-person-sitting-at-desk.jpg + width 4in + +\end_inset + + +\end_layout + +\begin_layout BeginFrame +Vision is really hard! +\end_layout + +\begin_layout Standard +\begin_inset Graphics + filename thesis/images/wall-push.png + width 3.5in + +\end_inset + + +\end_layout + +\begin_layout BeginFrame +Vision is really hard! +\end_layout + +\begin_layout Standard +\begin_inset Graphics + filename thesis/images/cat-drinking.jpg + width 2.5in + +\end_inset + + +\end_layout + +\begin_layout BeginFrame +Embodiment +\end_layout + +\begin_layout Itemize +Wishful programming. +\end_layout + +\begin_layout Itemize +Embodied representation is ridiculously simple! +\end_layout + +\begin_layout BeginFrame +How does empathy work? +\end_layout + +\begin_layout Itemize +Watching others makes you feel things sympathetically. +\end_layout + +\begin_layout Itemize +Those feelings tell you what's happening. +\end_layout + +\begin_layout Quotation +A chair is the feeling of sitting! +\end_layout + +\begin_layout BeginFrame +How does CORTEX work? +\end_layout + +\begin_layout Itemize +It's a bunch of senses + a utility for creating creatures. +\end_layout + +\begin_layout EndFrame + +\end_layout + +\end_body +\end_document diff -r 25f23cfd56ce -r fd74479db5cb org/genesis_demonstration.clj --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/org/genesis_demonstration.clj Mon Apr 21 02:12:51 2014 -0400 @@ -0,0 +1,66 @@ +(ns org.aurellem.genesis_demonstration + (:use clojure.java.shell) + (:use org.aurellem.worm-learn) + (:use org.aurellem.self-organizing-touch) + (:use cortex.test) + (:use cortex.import) + (:use cortex.util)) + +(mega-import-jme3) +(def play (comp dorun (partial sh "mplayer" "-fs"))) + + +(comment +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;;;;;; CORTEX ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + + +;; show some bodies +(.start (cortex.test.body/test-hand-3)) +(play "/home/r/proj/cortex/video/full-hand.ogg") + + +;; hearing +;; interactive hearing +(run-test #'cortex.test.hearing/test-worm-hearing) +;; multiple listeners +(run-test #'cortex.test.hearing/test-java-hearing) +(play "/home/r/proj/cortex/video/java-hearing-test.ogg") + +;; touch +(run-test #'cortex.test.touch/test-basic-touch) +(play "/home/r/proj/cortex/video/basic-touch.ogg") + +;; proprioception +(run-test #'cortex.test.proprioception/test-proprioception) + +;; movement +(run-test #'cortex.test.movement/test-worm-movement) + +;; instrumented hand +(play "/home/r/proj/cortex/video/hand-fixed.mkv") + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;;;;;; EMPATH ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + + +;; init system with a basic training script +(init) +;; demonstrate basic empathy; view phi-space +(empathy-experiment-1 false) +;; init system with an interactive training session +(init-interactive) +;; empathy is much better with more training +(empathy-experiment-2) + +;;;;; Learning touch + +;; small worm segment that learns its topology +(learn-and-view-touch-regions) + + + +) \ No newline at end of file diff -r 25f23cfd56ce -r fd74479db5cb org/self_organizing_touch.clj --- a/org/self_organizing_touch.clj Mon Apr 21 02:13:23 2014 -0400 +++ b/org/self_organizing_touch.clj Mon Apr 21 02:12:51 2014 -0400 @@ -125,7 +125,9 @@ worm-world (assoc (worm-segment-defaults) :experiences experiences - :record (File. "/home/r/proj/cortex/thesis/video/touch-learn-2/")))] + :record false + ;;(File. "/home/r/proj/cortex/thesis/video/touch-learn-2/") + ))] (run-world world) (->> @experiences diff -r 25f23cfd56ce -r fd74479db5cb org/util.org --- a/org/util.org Mon Apr 21 02:13:23 2014 -0400 +++ b/org/util.org Mon Apr 21 02:12:51 2014 -0400 @@ -58,8 +58,8 @@ (defn mega-import-jme3 "Import ALL the jme classes. For REPL use." [] + (import com.aurellem.capture.IsoTimer) (dorun - (import com.aurellem.capture.IsoTimer) (map (comp permissive-import symbol) (jme-class-names)))) #+end_src diff -r 25f23cfd56ce -r fd74479db5cb org/worm_learn.clj --- a/org/worm_learn.clj Mon Apr 21 02:13:23 2014 -0400 +++ b/org/worm_learn.clj Mon Apr 21 02:12:51 2014 -0400 @@ -525,7 +525,12 @@ (println-repl experience-matches-empathy) (swap! accuracy #(conj % experience-matches-empathy))))))) - + +(defn empathy-experiment-2 [] + (.start (worm-world :experience-watch (compare-empathy-with-baseline + (atom [])) + :record false :worm worm*))) + (defn accuracy [v] (float (/ (count (filter true? v)) (count v))))