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