James Kuffner - TUM€¦ · James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed...
Transcript of James Kuffner - TUM€¦ · James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed...
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
Digital Human Research Center (AIST)
James Kuffner
Google Research &
The Robotics Institute Carnegie Mellon University
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Stanford University 1995-1999
• University of Tokyo JSK Lab 1999-2001
• Carnegie Mellon University The Robotics Institute 2001-present
• Digital Human Research Center (AIST) 2001-present
H5 H6 H7 Asimo HRP2 HRP3
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots 3
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
qinit
qgoal
qnew
qtarget
qnear
“RRT-Connect” [ Kuffner, LaValle ICRA ‘00]
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots 6
CMU PhD thesis: Rosen Diankov
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots 7
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
Automatic Regrasping (2006)
[ Berenson, Diankov, Nishiwaki, Kagami, Kuffner ] Humanoids2007 8
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
http://openrave.programmingvision.com/ - OR - http://www.sourceforge.net/ keyword: “openrave”
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
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• Modeling Object Pose Error
CMU PhD thesis: Rosen Diankov
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
CMU PhD thesis: Rosen Diankov
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
CMU PhD thesis: Rosen Diankov
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
[ Berenson, Chestnutt, Srinivasa, Kagami, Kuffner , Humanoids2009 ]
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
?
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
Larry Page
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Documents “live” in the cloud (backed up and accessible anywhere)
• Netbook • Supercomputing:
(Heavy CPU or data-intensive processing handled by distributed network)
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Physical separation of Hardware (motors & sensors) and Software (high-level processes)
JSK (U.Tokyo) mini-Humanoids (1990s)
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Human acts as the “remote-brain”
• Not suitable for all tasks
• Issues: – Latency – Data Bandwidth NAIST-Hand I
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• “DAvinCi: A cloud computing framework for service robots” [ Arumugam, et. Al. , ICRA 2010 ]
• RoboEarth • Cloud Robotics at Google I/O (May 2011)
HRP3 (AIST/Kawada)
Google DataCenter
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Wireless networking: – Fast – Reliable – Ubiquitous – Sufficient bandwidth
(e.g: Mobile Broadband 64 kbps to 150 Mbps in 10 years = 2400x)
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Provides a shared knowledge database – Organizes and unifies information about the world
in a format usable by robots
• Offloads heavy computing tasks to the cloud – Cheaper, lighter, easier-to-maintain hardware
(akin to desktop PC vs. a thin-client “netbook”) – Longer battery life – Less need for software pushes/updates – CPU hardware upgrades are invisible & hassle-free
• Skill / Behavior Database – reusable library of “skills” or behaviors that map to
perceived task requirements / complex situations. – Data-mining the history of all cloud-enabled robots
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Cloud-enabled Object Recognition – e.g. “Google Goggles”
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Upload image(s) ! Download Semantics – Object name – 3D model, mass, materials, friction properties – Usage instructions (function, how to grasp, operate) – Context / Domain knowledge
ARMAR III (KIT)
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Recognition • Translation • Synthesis
Alex Waibel’s group (CMU & KIT)
Conversation Mode on Android
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Statistical Machine Translation
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Shared, highly-detailed maps of the world stored in the cloud
• Updates/changes can be published and immediately used
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Navigation • Difficult task or motion planning problems solved in the cloud (e.g “God’s Number”)
- 43,252,003,274,489,856,000 positions - 35 CPU-years used
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• An “App Store” for robots • Task ! Objects/Domain Info ! Usage
Instructions ! Behaviors/Motor Skills
“Contact Ryan”
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• AppInventor interface for Android phones and tablets • http://www.cellbots.com/ • http://www.cloudrobotics.com/ • ADK (Acessory Development Kit) for Android
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James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots 34
http://code.google.com/p/rosjava/