Mercurial > cortex
changeset 528:fd74479db5cb
merge some winston updates.
author | Robert McIntyre <rlm@mit.edu> |
---|---|
date | Mon, 21 Apr 2014 02:12:51 -0400 |
parents | ac747fa0a678 (diff) 25f23cfd56ce (current diff) |
children | 96c189d4d15e |
files | |
diffstat | 5 files changed, 263 insertions(+), 3 deletions(-) [+] |
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1.1 --- /dev/null Thu Jan 01 00:00:00 1970 +0000 1.2 +++ b/genesis.lyx Mon Apr 21 02:12:51 2014 -0400 1.3 @@ -0,0 +1,187 @@ 1.4 +#LyX 2.0 created this file. For more info see http://www.lyx.org/ 1.5 +\lyxformat 413 1.6 +\begin_document 1.7 +\begin_header 1.8 +\textclass beamer 1.9 +\begin_preamble 1.10 +\usetheme{default} 1.11 +% or ... 1.12 + 1.13 +\setbeamercovered{transparent} 1.14 +% or whatever (possibly just delete it) 1.15 + 1.16 +\beamertemplatenavigationsymbolsempty 1.17 +\end_preamble 1.18 +\use_default_options false 1.19 +\maintain_unincluded_children false 1.20 +\language english 1.21 +\language_package default 1.22 +\inputencoding auto 1.23 +\fontencoding global 1.24 +\font_roman times 1.25 +\font_sans default 1.26 +\font_typewriter default 1.27 +\font_default_family default 1.28 +\use_non_tex_fonts false 1.29 +\font_sc false 1.30 +\font_osf false 1.31 +\font_sf_scale 100 1.32 +\font_tt_scale 100 1.33 + 1.34 +\graphics default 1.35 +\default_output_format default 1.36 +\output_sync 0 1.37 +\bibtex_command default 1.38 +\index_command default 1.39 +\paperfontsize default 1.40 +\spacing single 1.41 +\use_hyperref false 1.42 +\papersize default 1.43 +\use_geometry true 1.44 +\use_amsmath 2 1.45 +\use_esint 0 1.46 +\use_mhchem 1 1.47 +\use_mathdots 1 1.48 +\cite_engine basic 1.49 +\use_bibtopic false 1.50 +\use_indices false 1.51 +\paperorientation portrait 1.52 +\suppress_date false 1.53 +\use_refstyle 0 1.54 +\index Index 1.55 +\shortcut idx 1.56 +\color #008000 1.57 +\end_index 1.58 +\secnumdepth 2 1.59 +\tocdepth 2 1.60 +\paragraph_separation indent 1.61 +\paragraph_indentation default 1.62 +\quotes_language english 1.63 +\papercolumns 1 1.64 +\papersides 1 1.65 +\paperpagestyle default 1.66 +\tracking_changes false 1.67 +\output_changes false 1.68 +\html_math_output 0 1.69 +\html_css_as_file 0 1.70 +\html_be_strict false 1.71 +\end_header 1.72 + 1.73 +\begin_body 1.74 + 1.75 +\begin_layout Title 1.76 +CORTEX & EMPATH 1.77 +\end_layout 1.78 + 1.79 +\begin_layout Subtitle 1.80 +Problem solving using embodiment + simulation 1.81 +\end_layout 1.82 + 1.83 +\begin_layout Author 1.84 +Robert 1.85 +\begin_inset space ~ 1.86 +\end_inset 1.87 + 1.88 +McIntyre 1.89 +\end_layout 1.90 + 1.91 +\begin_layout BeginFrame 1.92 +What's this about? 1.93 +\end_layout 1.94 + 1.95 +\begin_layout Itemize 1.96 +CORTEX -- a souped up blocks world 1.97 +\end_layout 1.98 + 1.99 +\begin_layout Itemize 1.100 +EMPATH -- recognizing actions using empathy + embodiment 1.101 +\end_layout 1.102 + 1.103 +\begin_layout Itemize 1.104 +Some cool stuff I learned 1.105 +\end_layout 1.106 + 1.107 +\begin_layout BeginFrame 1.108 +Vision is really hard! 1.109 +\end_layout 1.110 + 1.111 +\begin_layout Standard 1.112 +\begin_inset Graphics 1.113 + filename thesis/images/fat-person-sitting-at-desk.jpg 1.114 + width 4in 1.115 + 1.116 +\end_inset 1.117 + 1.118 + 1.119 +\end_layout 1.120 + 1.121 +\begin_layout BeginFrame 1.122 +Vision is really hard! 1.123 +\end_layout 1.124 + 1.125 +\begin_layout Standard 1.126 +\begin_inset Graphics 1.127 + filename thesis/images/wall-push.png 1.128 + width 3.5in 1.129 + 1.130 +\end_inset 1.131 + 1.132 + 1.133 +\end_layout 1.134 + 1.135 +\begin_layout BeginFrame 1.136 +Vision is really hard! 1.137 +\end_layout 1.138 + 1.139 +\begin_layout Standard 1.140 +\begin_inset Graphics 1.141 + filename thesis/images/cat-drinking.jpg 1.142 + width 2.5in 1.143 + 1.144 +\end_inset 1.145 + 1.146 + 1.147 +\end_layout 1.148 + 1.149 +\begin_layout BeginFrame 1.150 +Embodiment 1.151 +\end_layout 1.152 + 1.153 +\begin_layout Itemize 1.154 +Wishful programming. 1.155 +\end_layout 1.156 + 1.157 +\begin_layout Itemize 1.158 +Embodied representation is ridiculously simple! 1.159 +\end_layout 1.160 + 1.161 +\begin_layout BeginFrame 1.162 +How does empathy work? 1.163 +\end_layout 1.164 + 1.165 +\begin_layout Itemize 1.166 +Watching others makes you feel things sympathetically. 1.167 +\end_layout 1.168 + 1.169 +\begin_layout Itemize 1.170 +Those feelings tell you what's happening. 1.171 +\end_layout 1.172 + 1.173 +\begin_layout Quotation 1.174 +A chair is the feeling of sitting! 1.175 +\end_layout 1.176 + 1.177 +\begin_layout BeginFrame 1.178 +How does CORTEX work? 1.179 +\end_layout 1.180 + 1.181 +\begin_layout Itemize 1.182 +It's a bunch of senses + a utility for creating creatures. 1.183 +\end_layout 1.184 + 1.185 +\begin_layout EndFrame 1.186 + 1.187 +\end_layout 1.188 + 1.189 +\end_body 1.190 +\end_document
2.1 --- /dev/null Thu Jan 01 00:00:00 1970 +0000 2.2 +++ b/org/genesis_demonstration.clj Mon Apr 21 02:12:51 2014 -0400 2.3 @@ -0,0 +1,66 @@ 2.4 +(ns org.aurellem.genesis_demonstration 2.5 + (:use clojure.java.shell) 2.6 + (:use org.aurellem.worm-learn) 2.7 + (:use org.aurellem.self-organizing-touch) 2.8 + (:use cortex.test) 2.9 + (:use cortex.import) 2.10 + (:use cortex.util)) 2.11 + 2.12 +(mega-import-jme3) 2.13 +(def play (comp dorun (partial sh "mplayer" "-fs"))) 2.14 + 2.15 + 2.16 +(comment 2.17 +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 2.18 +;;;;;; CORTEX ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 2.19 +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 2.20 + 2.21 + 2.22 +;; show some bodies 2.23 +(.start (cortex.test.body/test-hand-3)) 2.24 +(play "/home/r/proj/cortex/video/full-hand.ogg") 2.25 + 2.26 + 2.27 +;; hearing 2.28 +;; interactive hearing 2.29 +(run-test #'cortex.test.hearing/test-worm-hearing) 2.30 +;; multiple listeners 2.31 +(run-test #'cortex.test.hearing/test-java-hearing) 2.32 +(play "/home/r/proj/cortex/video/java-hearing-test.ogg") 2.33 + 2.34 +;; touch 2.35 +(run-test #'cortex.test.touch/test-basic-touch) 2.36 +(play "/home/r/proj/cortex/video/basic-touch.ogg") 2.37 + 2.38 +;; proprioception 2.39 +(run-test #'cortex.test.proprioception/test-proprioception) 2.40 + 2.41 +;; movement 2.42 +(run-test #'cortex.test.movement/test-worm-movement) 2.43 + 2.44 +;; instrumented hand 2.45 +(play "/home/r/proj/cortex/video/hand-fixed.mkv") 2.46 + 2.47 + 2.48 +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 2.49 +;;;;;; EMPATH ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 2.50 +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 2.51 + 2.52 + 2.53 +;; init system with a basic training script 2.54 +(init) 2.55 +;; demonstrate basic empathy; view phi-space 2.56 +(empathy-experiment-1 false) 2.57 +;; init system with an interactive training session 2.58 +(init-interactive) 2.59 +;; empathy is much better with more training 2.60 +(empathy-experiment-2) 2.61 + 2.62 +;;;;; Learning touch 2.63 + 2.64 +;; small worm segment that learns its topology 2.65 +(learn-and-view-touch-regions) 2.66 + 2.67 + 2.68 + 2.69 +) 2.70 \ No newline at end of file
3.1 --- a/org/self_organizing_touch.clj Mon Apr 21 02:13:23 2014 -0400 3.2 +++ b/org/self_organizing_touch.clj Mon Apr 21 02:12:51 2014 -0400 3.3 @@ -125,7 +125,9 @@ 3.4 worm-world 3.5 (assoc (worm-segment-defaults) 3.6 :experiences experiences 3.7 - :record (File. "/home/r/proj/cortex/thesis/video/touch-learn-2/")))] 3.8 + :record false 3.9 + ;;(File. "/home/r/proj/cortex/thesis/video/touch-learn-2/") 3.10 + ))] 3.11 (run-world world) 3.12 (->> 3.13 @experiences
4.1 --- a/org/util.org Mon Apr 21 02:13:23 2014 -0400 4.2 +++ b/org/util.org Mon Apr 21 02:12:51 2014 -0400 4.3 @@ -58,8 +58,8 @@ 4.4 (defn mega-import-jme3 4.5 "Import ALL the jme classes. For REPL use." 4.6 [] 4.7 + (import com.aurellem.capture.IsoTimer) 4.8 (dorun 4.9 - (import com.aurellem.capture.IsoTimer) 4.10 (map (comp permissive-import symbol) (jme-class-names)))) 4.11 #+end_src 4.12
5.1 --- a/org/worm_learn.clj Mon Apr 21 02:13:23 2014 -0400 5.2 +++ b/org/worm_learn.clj Mon Apr 21 02:12:51 2014 -0400 5.3 @@ -525,7 +525,12 @@ 5.4 5.5 (println-repl experience-matches-empathy) 5.6 (swap! accuracy #(conj % experience-matches-empathy))))))) 5.7 - 5.8 + 5.9 +(defn empathy-experiment-2 [] 5.10 + (.start (worm-world :experience-watch (compare-empathy-with-baseline 5.11 + (atom [])) 5.12 + :record false :worm worm*))) 5.13 + 5.14 (defn accuracy [v] 5.15 (float (/ (count (filter true? v)) (count v)))) 5.16