# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1398557420 14400
# Node ID 749452f063e5411f571010dea5951839a7dcefb6
# Parent  21b8389922eed47ab6f0dd59003d4a46a9b12718
elaborate paragraph.

diff -r 21b8389922ee -r 749452f063e5 thesis/cortex.org
--- a/thesis/cortex.org	Sat Apr 26 19:36:13 2014 -0400
+++ b/thesis/cortex.org	Sat Apr 26 20:10:20 2014 -0400
@@ -2381,7 +2381,7 @@
     #+end_listing
 
 
-    =movement-kernel= creates a function that controlls the movement
+    =movement-kernel= creates a function that controls the movement
     of the nearest physical node to the muscle node. The muscle exerts
     a rotational force dependent on it's orientation to the object in
     the blender file. The function returned by =movement-kernel= is
@@ -2545,7 +2545,7 @@
   #+end_src
   #+end_listing
 
-** COMMENT Embodiment factors action recognition into manageable parts
+** Embodiment factors action recognition into manageable parts
 
    Using empathy, I divide the problem of action recognition into a
    recognition process expressed in the language of a full compliment
@@ -2738,17 +2738,35 @@
    These action predicates satisfy the recognition requirement of an
    empathic recognition system. There is power in the simplicity of
    the action predicates. They describe their actions without getting
-   confused in visual details of the worm. Each one is frame
-   independent, but more than that, they are each independent of
-   irrelevant visual details of the worm and the environment. They
-   will work regardless of whether the worm is a different color or
-   heavily textured, or if the environment has strange lighting.
+   confused in visual details of the worm. Each one is independent of
+   position and rotation, but more than that, they are each
+   independent of irrelevant visual details of the worm and the
+   environment. They will work regardless of whether the worm is a
+   different color or heavily textured, or if the environment has
+   strange lighting.
+
+   Consider how the human act of jumping might be described with
+   body-centered action predicates: You might specify that jumping is
+   mainly the feeling of your knees bending, your thigh muscles
+   contracting, and your inner ear experiencing a certain sort of back
+   and forth acceleration. This representation is a very concrete
+   description of jumping, couched in terms of muscles and senses, but
+   it also has the ability to describe almost all kinds of jumping, a
+   generality that you might think could only be achieved by a very
+   abstract description. The body centered jumping predicate does not
+   have terms that consider the color of a person's skin or whether
+   they are male or female, instead it gets right to the meat of what
+   jumping actually /is/.
+
+   Of course, the action predicates are not directly applicable to
+   video data which lacks the advanced sensory information which they
+   require!
 
    The trick now is to make the action predicates work even when the
    sensory data on which they depend is absent. If I can do that, then
    I will have gained much.
 
-** COMMENT \Phi-space describes the worm's experiences
+** \Phi-space describes the worm's experiences
    
    As a first step towards building empathy, I need to gather all of
    the worm's experiences during free play. I use a simple vector to
@@ -2794,7 +2812,7 @@
    provided by an experience vector and reliably inferring the rest of
    the senses.
 
-** COMMENT Empathy is the process of tracing though \Phi-space 
+** Empathy is the process of tracing though \Phi-space 
 
    Here is the core of a basic empathy algorithm, starting with an
    experience vector:
@@ -2865,7 +2883,7 @@
    #+caption: =longest-thread= finds the longest path of consecutive 
    #+caption: experiences to explain proprioceptive worm data from 
    #+caption: previous data. Here, the film strip represents the  
-   #+caption: creature's previous experience. Sort sequeuces of
+   #+caption: creature's previous experience. Sort sequences of
    #+caption: memories are spliced together to match the
    #+caption: proprioceptive data. Their carry the other senses 
    #+caption: along with them.
@@ -3273,7 +3291,7 @@
    completely scrambled. The cross shape is just for convenience. This
    example justifies the use of pre-defined touch regions in =EMPATH=.
 
-* COMMENT Contributions
+* Contributions
   
   In this thesis you have seen the =CORTEX= system, a complete
   environment for creating simulated creatures. You have seen how to