It is a mystery how the brain decodes color vision purely from the optic nerve signals it receives, with a core inferential challenge being how it disentangles internal perception with the correct color dimensionality from the unknown encoding properties of the eye. In this paper, we introduce a computational framework for modeling this emergence of human color vision by simulating both the eye and the cortex. Existing research often overlooks how the cortex develops color vision or represents color space internally, assuming that the color dimensionality is known a priori; however, we argue that the visual cortex has the capability and the challenge of inferring the color dimensionality purely from fluctuations in the optic nerve signals. To validate our theory, we introduce a simulation engine for biological eyes based on established vision science and generate optic nerve signals resulting from looking at natural images. Further, we propose a bio-plausible model of cortical learning based on self-supervised prediction of optic nerve signal fluctuations under natural eye motions. We show that this model naturally learns to generate color vision by disentangling retinal invariants from the sensory signals. When the retina contains $N$ types of color photoreceptors, our simulation shows that $N$-dimensional color vision naturally emerges, verified through formal colorimetry. Using this framework, we also present the first simulation work that successfully boosts the color dimensionality, as observed in gene therapy on squirrel monkeys, and demonstrates the possibility of enhancing human color vision from 3D to 4D.

Polyculture farming is a sustainable farming technique based on synergistic interactions between differing plant types that make them more resistant to diseases and pests and better able to retain water. Reduced uniformity can reduce use of pesticides, fertilizer, and water, but is more labor intensive and more challenging to automate. We describe a scaled physical testbed (1.5m×3.0m) that uses a high resolution camera and soil sensors to monitor polyculture plants to facilitate tuning of plant growth, companion effects, and irrigation parameters for a first-order garden simulator. We use this simulator to develop a novel seed placement algorithm that increases coverage and diversity, and a learned pruning policy. In simulation experiments, the seed placement algorithm yields 60% more coverage and 10% more diversity than random seed placement and the learned pruning policy runs 1000X faster than a procedural lookahead policy to achieve high leaf coverage and plant diversity on adversarial gardens that include plant species with diverse growth rates. These models and policies provide the groundwork for a fully-automated system under development. Code, datasets and supplementary material can be found at https://github.com/BerkeleyAutomation/AlphaGarden/.

In this paper, we introduce an approach which enables manipulator robots to write handwritten characters or line drawings. Given an image of just-drawn handwritten characters, the robot infers a plan to replicate the image with a writing utensil, and then reproduces the image. Our approach draws each target stroke in one continuous drawing motion and does not rely on handcrafted rules or on predefined paths of characters. Instead, it learns to write from a dataset of demonstrations. We evaluate our approach in both simulation and on two real robots. Our model can draw handwritten characters in a variety of languages which are disjoint from the training set, such as Greek, Tamil, or Hindi, and also reproduce any stroke-based drawing from an image of the drawing.