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 1
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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
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 5
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
James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots 7
James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
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”
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 13
James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots 14
James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
(e.g: Mobile Broadband 64 kbps to 150 Mbps in 10 years = 2400x)
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
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”
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)
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
James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
• Statistical Machine Translation
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
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
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”
James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots
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
James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots 34