# 2025/12 - Looking Inside Monty’s “Brain” **URL:** \ **Category:** Video Discussions\ **Tags:** core-video\ **Created:** [December 19, 2025, 11:45pm UTC](https://forum.thousandbrains.org/t/2025-12-looking-inside-monty-s-brain/888 "2025-12-19T23:45:29Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![brainwaves](https://yyz2.discourse-cdn.com/flex034/user_avatar/forum.thousandbrains.org/brainwaves/32/3_2.png) [@brainwaves](https://forum.thousandbrains.org/u/brainwaves)\ **Post date:** [December 19, 2025, 11:45pm UTC](https://forum.thousandbrains.org/t/2025-12-looking-inside-monty-s-brain/888/1 "2025-12-19T23:45:29Z")
@rmounir walks through how Monty populates and explores the hypothesis space for object and pose recognition with interactive visualizations. He shows how Monty prunes and samples new hypotheses as part of its sensorimotor process. He also shows what symmetric objects look like in Monty’s hypothesis space. [00:00](https://www.youtube.com/watch?v=xbhf4yzpzx8) Meet Monty 2026: Looking Inside Monty’s “Brain” [00:40](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=40s) Object Recognition Experiment Setup [02:49](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=169s) Visualizing Monty’s movements [04:11](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=251s) Visualizing the Hypothesis Space [05:06](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=306s) Visualizing an Individual Hypothesis [05:37](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=337s) Example Hypotheses [07:05](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=425s) Hypotheses on Other Objects [07:29](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=449s) Visualizing the Hypothesized Path [08:59](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=539s) Animation of the Hypothesis Space Over Time [09:19](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=559s) How Evidence is Calculated and Evolves Over Time [12:58](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=778s) Hypotheses Around an Axis of Symmetry [14:19](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=859s) Hypothesis Space Pruning and Burst Sampling [15:43](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=943s) Visualization of Possible Sensor Locations in the Hypothesis Space [17:46](https://www.youtube.com/watch?v=xbhf4yzpzx8&t=1066s) tbp.plot Repository and Other Resources [![](https://canada1.discourse-cdn.com/flex034/uploads/thousandbrains/original/1X/0a05ca50aba9ed47f6efe6b54b9f1337e14aab6c.jpeg "2025/12 - Looking Inside Monty’s “Brain”") ](https://www.youtube.com/watch?v=xbhf4yzpzx8) ---
**Author:** ![Bryce\_Bate](https://yyz2.discourse-cdn.com/flex034/user_avatar/forum.thousandbrains.org/bryce_bate/32/944_2.png) [@Bryce\_Bate](https://forum.thousandbrains.org/u/Bryce_Bate)\ **Post date:** [August 21, 2026, 6:04pm UTC](https://forum.thousandbrains.org/t/2025-12-looking-inside-monty-s-brain/888/2 "2026-08-21T18:04:23Z")
This walkthrough was really good, so I wanted to reproduce the hypothesis-space plots he demonstrates. I already have the `tbp.teleop` live visualizer working. The piece I’m stuck on is the `tbp.plot` replay views. With the latest clone of Monty and `tbp.plot`, I tried its plots against a `randrot_noise_10distinctobj_surf_agent` run logged with detailed logging. Maybe another existing experiment would have been better for this. I don’t know. - `interactive_objects_evidence_over_time` fails with `KeyError: 'max_evidence'` - `interactive_hypothesis_space_correlation` fails with `KeyError: 'hypotheses_updater_telemetry'` It looks like these plots expect fields that my run’s `detailed_run_stats.json` doesn’t contain, and I can’t find any doc that says which experiment or logging config produces them. Could someone help direct me with: 1. Which experiment / config produces the data these `tbp.plot` visualizers need (e.g. `max_evidence`, `hypotheses_updater_telemetry`)? Is there a specific setup used for the video? 2. Any logging setting required beyond the standard detailed logging presets? Thanks! — Bryce (cc @rmounir in case this is squarely your area — apologies if I should’ve asked elsewhere.) ---
**Author:** ![rmounir](https://yyz2.discourse-cdn.com/flex034/user_avatar/forum.thousandbrains.org/rmounir/32/268_2.png) [@rmounir](https://forum.thousandbrains.org/u/rmounir)\ **Post date:** [August 21, 2026, 7:41pm UTC](https://forum.thousandbrains.org/t/2025-12-looking-inside-monty-s-brain/888/3 "2026-08-21T19:41:21Z")
Hi @Bryce_Bate, I’m glad you got `tbp.teleop` to work, `tbp.plot` is a bit more tricky because there are a few places in the configs that need to be changed to generate those very detailed logs. I have created a [branch on my fork](https://github.com/thousandbrainsproject/tbp.monty/commit/37d6893d0b1e8a2be5399313da926529bf365d18) with two example configurations: - `bryce_randrot_noise_10distinctobj_surf_agent` : can run with the `run_parallel.py` script. - `bryce_unsupervised_inference_distinctobj_dist_agent`: should run with the `run.py` script. You can use the [bryce\_configs branch](https://github.com/ramyamounir/tbp.monty/tree/bryce_configs) to run the experiments. The changes I made for these to generate the correct logs are: - [added a flag](https://github.com/thousandbrainsproject/tbp.monty/blob/37d6893d0b1e8a2be5399313da926529bf365d18/src/tbp/monty/conf/monty/learning_module/hypotheses_updater/bryce_burst_sampling_10nn.yaml?plain=1#L4) to the burst sampling hypotheses updater to include telemetry. - Used the [detailed logs logger](https://github.com/thousandbrainsproject/tbp.monty/blob/37d6893d0b1e8a2be5399313da926529bf365d18/src/tbp/monty/conf/experiment/bryce_unsupervised_inference_distinctobj_dist_agent.yaml?plain=1#L13). - [Reduced the number of rotations](https://github.com/thousandbrainsproject/tbp.monty/blob/37d6893d0b1e8a2be5399313da926529bf365d18/src/tbp/monty/conf/experiment/bryce_unsupervised_inference_distinctobj_dist_agent.yaml?plain=1#L24) to 1 to generate a lightweight log file. - [Reduced the number of objects](https://github.com/thousandbrainsproject/tbp.monty/blob/37d6893d0b1e8a2be5399313da926529bf365d18/src/tbp/monty/conf/env_interface/bryce_eval_distinctobj_random.yaml?plain=1#L6-L9) to 3 to generate a lightweight log file. - The `EvidenceGraphLM` will need the `TheoreticalLimitLMLoggingMixin` (included by default in the unsupervised inference experiment, but needed in the `randrot_noise_10distinctobj_surf_agent`). I created it [here](https://github.com/thousandbrainsproject/tbp.monty/blob/37d6893d0b1e8a2be5399313da926529bf365d18/src/tbp/monty/frameworks/models/no_reset_evidence_matching.py?plain=1#L291-L292) and referenced it [here](https://github.com/thousandbrainsproject/tbp.monty/blob/37d6893d0b1e8a2be5399313da926529bf365d18/src/tbp/monty/conf/monty/learning_module/bryce_evidence_1lm_nn10_dod0025.yaml?plain=1#L7). After you run the experiments, the detailed logs should have all the data it needs to display these interactive plots. Note that the experiment I showed in the walkthrough video is an unsupervised inference experiment; you can change the burst sampling parameters by [overriding the defaults](https://github.com/thousandbrainsproject/tbp.monty/blob/37d6893d0b1e8a2be5399313da926529bf365d18/src/tbp/monty/conf/monty/learning_module/hypotheses_updater/bryce_burst_sampling_10nn.yaml?plain=1#L2-L4) under `hypotheses_updater_args` to get different burst sampling behaviors, e.g., make it less likely to trigger bursts. Hope this helps, let me know if you’re still facing problems. ---
**Author:** ![Bryce\_Bate](https://yyz2.discourse-cdn.com/flex034/user_avatar/forum.thousandbrains.org/bryce_bate/32/944_2.png) [@Bryce\_Bate](https://forum.thousandbrains.org/u/Bryce_Bate)\ **Post date:** [August 21, 2026, 8:21pm UTC](https://forum.thousandbrains.org/t/2025-12-looking-inside-monty-s-brain/888/4 "2026-08-21T20:21:56Z")
Thanks so much, @rmounir, for the assistance and quick response. I’ll give it a try. Nothing has helped me more to finally understand reference frames, hypotheses, poses, and object identification in TBT more than your video walkthrough of the visualizer. Suddenly, a number of concepts clicked for the first time. That’s why I was eager to play with it on my own. ---
**Author:** ![rmounir](https://yyz2.discourse-cdn.com/flex034/user_avatar/forum.thousandbrains.org/rmounir/32/268_2.png) [@rmounir](https://forum.thousandbrains.org/u/rmounir)\ **Post date:** [August 22, 2026, 10:02am UTC](https://forum.thousandbrains.org/t/2025-12-looking-inside-monty-s-brain/888/5 "2026-08-22T10:02:28Z")
You’re very welcome @Bryce_Bate, really glad to hear that! 🙂