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Question: Learning the musical concepts in the book "Gödel, Escher, Bach"
Answer: As someone who has no formal training in music whatsoever but who fell in love with Beethoven and Bach upon hearing them, I discovered that my visual senses are much better at picking out patterns than my auditory senses. Here is a rendition of Bach's great fugue BWV 542 which shows it all to you while sacrificing none of the auditory pleasures derived from hearing this work.

Sometimes just visually looking at what's being played is all you need. The patterns are just so obvious when you hear them AND see them. In this case you'll see what a fugue is and a few of the things Bach is doing with the main melody. You will quite literally see the individual voices. I recommend playing this a few times and focusing on one voice so that you can see and hear what it is doing.

Here is his Fugue BWV 565. In general I recommend any MIDI viewing program and then you can get free MIDIs (for example here), open them up in your favorite MIDI viewer and view the piano roll. There are plenty of paid ones of course but the one I like is called Synthesia which has a pretty good free version and it does everything I need it for. And here is a sample of what Synthesia does. I am still ridiculously slow at sight reading but using MIDI viewers, I can now play my favorite pieces from Bach, Beethoven, Chopin, and Mozart for my own pleasure.