Tag Archives: technology

#436202 Trump CTO Addresses AI, Facial ...

Michael Kratsios, the Chief Technology Officer of the United States, took the stage at Stanford University last week to field questions from Stanford’s Eileen Donahoe and attendees at the 2019 Fall Conference of the Institute for Human-Centered Artificial Intelligence (HAI).

Kratsios, the fourth to hold the U.S. CTO position since its creation by President Barack Obama in 2009, was confirmed in August as President Donald Trump’s first CTO. Before joining the Trump administration, he was chief of staff at investment firm Thiel Capital and chief financial officer of hedge fund Clarium Capital. Donahoe is Executive Director of Stanford’s Global Digital Policy Incubator and served as the first U.S. Ambassador to the United Nations Human Rights Council during the Obama Administration.

The conversation jumped around, hitting on both accomplishments and controversies. Kratsios touted the administration’s success in fixing policy around the use of drones, its memorandum on STEM education, and an increase in funding for basic research in AI—though the magnitude of that increase wasn’t specified. He pointed out that the Trump administration’s AI policy has been a continuation of the policies of the Obama administration, and will continue to build on that foundation. As proof of this, he pointed to Trump’s signing of the American AI Initiative earlier this year. That executive order, Kratsios said, was intended to bring various government agencies together to coordinate their AI efforts and to push the idea that AI is a tool for the American worker. The AI Initiative, he noted, also took into consideration that AI will cause job displacement, and asked private companies to pledge to retrain workers.

The administration, he said, is also looking to remove barriers to AI innovation. In service of that goal, the government will, in the next month or so, release a regulatory guidance memo instructing government agencies about “how they should think about AI technologies,” said Kratsios.

U.S. vs China in AI

A few of the exchanges between Kratsios and Donahoe hit on current hot topics, starting with the tension between the U.S. and China.

Donahoe:

“You talk a lot about unique U.S. ecosystem. In which aspect of AI is the U.S. dominant, and where is China challenging us in dominance?

Kratsios:

“They are challenging us on machine vision. They have more data to work with, given that they have surveillance data.”

Donahoe:

“To what extent would you say the quantity of data collected and available will be a determining factor in AI dominance?”

Kratsios:

“It makes a big difference in the short term. But we do research on how we get over these data humps. There is a future where you don’t need as much data, a lot of federal grants are going to [research in] how you can train models using less data.”

Donahoe turned the conversation to a different tension—that between innovation and values.

Donahoe:

“A lot of conversation yesterday was about the tension between innovation and values, and how do you hold those things together and lead in both realms.”

Kratsios:

“We recognized that the U.S. hadn’t signed on to principles around developing AI. In May, we signed [the Organization for Economic Cooperation and Development Principles on Artificial Intelligence], coming together with other Western democracies to say that these are values that we hold dear.

[Meanwhile,] we have adversaries around the world using AI to surveil people, to suppress human rights. That is why American leadership is so critical: We want to come out with the next great product. And we want our values to underpin the use cases.”

A member of the audience pushed further:

“Maintaining U.S. leadership in AI might have costs in terms of individuals and society. What costs should individuals and society bear to maintain leadership?”

Kratsios:

“I don’t view the world that way. Our companies big and small do not hesitate to talk about the values that underpin their technology. [That is] markedly different from the way our adversaries think. The alternatives are so dire [that we] need to push efforts to bake the values that we hold dear into this technology.”

Facial recognition

And then the conversation turned to the use of AI for facial recognition, an application which (at least for police and other government agencies) was recently banned in San Francisco.

Donahoe:

“Some private sector companies have called for government regulation of facial recognition, and there already are some instances of local governments regulating it. Do you expect federal regulation of facial recognition anytime soon? If not, what ought the parameters be?”

Kratsios:

“A patchwork of regulation of technology is not beneficial for the country. We want to avoid that. Facial recognition has important roles—for example, finding lost or displaced children. There are use cases, but they need to be underpinned by values.”

A member of the audience followed up on that topic, referring to some data presented earlier at the HAI conference on bias in AI:

“Frequently the example of finding missing children is given as the example of why we should not restrict use of facial recognition. But we saw Joy Buolamwini’s presentation on bias in data. I would like to hear your thoughts about how government thinks we should use facial recognition, knowing about this bias.”

Kratsios:

“Fairness, accountability, and robustness are things we want to bake into any technology—not just facial recognition—as we build rules governing use cases.”

Immigration and innovation

A member of the audience brought up the issue of immigration:

“One major pillar of innovation is immigration, does your office advocate for it?”

Kratsios:

“Our office pushes for best and brightest people from around the world to come to work here and study here. There are a few efforts we have made to move towards a more merit-based immigration system, without congressional action. [For example, in] the H1-B visa system, you go through two lotteries. We switched the order of them in order to get more people with advanced degrees through.”

The government’s tech infrastructure

Donahoe brought the conversation around to the tech infrastructure of the government itself:

“We talk about the shiny object, AI, but the 80 percent is the unsexy stuff, at federal and state levels. We don’t have a modern digital infrastructure to enable all the services—like a research cloud. How do we create this digital infrastructure?”

Kratsios:

“I couldn’t agree more; the least partisan issue in Washington is about modernizing IT infrastructure. We spend like $85 billion a year on IT at the federal level, we can certainly do a better job of using those dollars.” Continue reading

Posted in Human Robots

#436200 AI and the Future of Work: The Economic ...

This week at MIT, academics and industry officials compared notes, studies, and predictions about AI and the future of work. During the discussions, an insurance company executive shared details about one AI program that rolled out at his firm earlier this year. A chatbot the company introduced, the executive said, now handles 150,000 calls per month.

Later in the day, a panelist—David Fanning, founder of PBS’s Frontline—remarked that this statistic is emblematic of broader fears he saw when reporting a new Frontline documentary about AI. “People are scared,” Fanning said of the public’s AI anxiety.

Fanning was part of a daylong symposium about AI’s economic consequences—good, bad, and otherwise—convened by MIT’s Task Force on the Work of the Future.

“Dig into every industry, and you’ll find AI changing the nature of work,” said Daniela Rus, director of MIT’s Computer Science and Artificial Intelligence Laboratory (CSAIL). She cited recent McKinsey research that found 45 percent of the work people are paid to do today can be automated with currently available technologies. Those activities, McKinsey found, represent some US $2 trillion in wages.

However, the threat of automation—whether by AI or other technologies—isn’t as new as technologists on America’s coasts seem to believe, said panelist Fred Goff, CEO of Jobcase, Inc.

“If you live in Detroit or Toledo, where I come from, technology has been displacing jobs for the last half-century,” Goff said. “I don’t think that most people in this country have the increased anxiety that the coasts do, because they’ve been living this.”

Goff added that the challenge AI poses for the workforce is not, as he put it, “getting coal miners to code.” Rather, he said, as AI automates some jobs, it will also open opportunities for “reskilling” that may have nothing to do with AI or automation. He touted trade schools—teaching skills like welding, plumbing, and electrical work—and certification programs for sales industry software packages like Salesforce.

On the other hand, a documentarian who reported another recent program on AI—Krishna Andavolu, senior correspondent for Vice Media—said “reskilling” may not be an easy answer.

“People in rooms like this … don’t realize that a lot of people don’t want to work that much,” Andavolu said. “They’re not driven by passion for their career, they’re driven by passion for life. We’re telling a lot of these workers that they need to reskill. But to a lot of people that sounds like, ‘I’ve got to work twice as hard for what I have now.’ That sounds scary. We underestimate that at our peril.”

Part of the problem with “reskilling,” Andavolu said, is that some high-growth industries involve caregiving for seniors and in medical facilities—roles which are traditionally considered “feminized” careers. Destigmatizing these jobs, and increasing the pay to match the salaries of displaced jobs like long-haul truck drivers, is another challenge.

Daron Acemoglu, MIT Institute Professor of Economics, faulted the comparably slim funding of academic research into AI.

“There is nothing preordained about the progress of technology,” he said. Computers, the Internet, antibiotics, and sensors all grew out of government and academic research programs. What he called the “blue-sky thinking” of non-corporate AI research can also develop applications that are not purely focused on maximizing profits.

American companies, Acemoglu said, get tax breaks for capital R&D—but not for developing new technologies for their employees. “We turn around and [tell companies], ‘Use your technologies to empower workers,’” he said. “But why should they do that? Hiring workers is expensive in many ways. And we’re subsidizing capital.”

Said Sarita Gupta, director of the Ford Foundation’s Future of Work(ers) Program, “Low and middle income workers have for over 30 years been experiencing stagnant and declining pay, shrinking benefits, and less power on the job. Now technology is brilliant at enabling scale. But the question we sit with is—how do we make sure that we’re not scaling these longstanding problems?”

Andrew McAfee, co-director of MIT’s Initiative on the Digital Economy, said AI may not reduce the number of jobs available in the workplace today. But the quality of those jobs is another story. He cited the Dutch economist Jan Tinbergen who decades ago said that “Inequality is a race between technology and education.”

McAfee said, ultimately, the time to solve the economic problems AI poses for workers in the United States is when the U.S. economy is doing well—like right now.

“We do have the wind at our backs,” said Elisabeth Reynolds, executive director of MIT’s Task Force on the Work of the Future.

“We have some breathing room right now,” McAfee agreed. “Economic growth has been pretty good. Unemployment is pretty low. Interest rates are very, very low. We might not have that war chest in the future.” Continue reading

Posted in Human Robots

#436190 What Is the Uncanny Valley?

Have you ever encountered a lifelike humanoid robot or a realistic computer-generated face that seem a bit off or unsettling, though you can’t quite explain why?

Take for instance AVA, one of the “digital humans” created by New Zealand tech startup Soul Machines as an on-screen avatar for Autodesk. Watching a lifelike digital being such as AVA can be both fascinating and disconcerting. AVA expresses empathy through her demeanor and movements: slightly raised brows, a tilt of the head, a nod.

By meticulously rendering every lash and line in its avatars, Soul Machines aimed to create a digital human that is virtually undistinguishable from a real one. But to many, rather than looking natural, AVA actually looks creepy. There’s something about it being almost human but not quite that can make people uneasy.

Like AVA, many other ultra-realistic avatars, androids, and animated characters appear stuck in a disturbing in-between world: They are so lifelike and yet they are not “right.” This void of strangeness is known as the uncanny valley.

Uncanny Valley: Definition and History
The uncanny valley is a concept first introduced in the 1970s by Masahiro Mori, then a professor at the Tokyo Institute of Technology. The term describes Mori’s observation that as robots appear more humanlike, they become more appealing—but only up to a certain point. Upon reaching the uncanny valley, our affinity descends into a feeling of strangeness, a sense of unease, and a tendency to be scared or freaked out.

Image: Masahiro Mori

The uncanny valley as depicted in Masahiro Mori’s original graph: As a robot’s human likeness [horizontal axis] increases, our affinity towards the robot [vertical axis] increases too, but only up to a certain point. For some lifelike robots, our response to them plunges, and they appear repulsive or creepy. That’s the uncanny valley.

In his seminal essay for Japanese journal Energy, Mori wrote:

I have noticed that, in climbing toward the goal of making robots appear human, our affinity for them increases until we come to a valley, which I call the uncanny valley.

Later in the essay, Mori describes the uncanny valley by using an example—the first prosthetic hands:

One might say that the prosthetic hand has achieved a degree of resemblance to the human form, perhaps on a par with false teeth. However, when we realize the hand, which at first site looked real, is in fact artificial, we experience an eerie sensation. For example, we could be startled during a handshake by its limp boneless grip together with its texture and coldness. When this happens, we lose our sense of affinity, and the hand becomes uncanny.

In an interview with IEEE Spectrum, Mori explained how he came up with the idea for the uncanny valley:

“Since I was a child, I have never liked looking at wax figures. They looked somewhat creepy to me. At that time, electronic prosthetic hands were being developed, and they triggered in me the same kind of sensation. These experiences had made me start thinking about robots in general, which led me to write that essay. The uncanny valley was my intuition. It was one of my ideas.”

Uncanny Valley Examples
To better illustrate how the uncanny valley works, here are some examples of the phenomenon. Prepare to be freaked out.

1. Telenoid

Photo: Hiroshi Ishiguro/Osaka University/ATR

Taking the top spot in the “creepiest” rankings of IEEE Spectrum’s Robots Guide, Telenoid is a robotic communication device designed by Japanese roboticist Hiroshi Ishiguro. Its bald head, lifeless face, and lack of limbs make it seem more alien than human.

2. Diego-san

Photo: Andrew Oh/Javier Movellan/Calit2

Engineers and roboticists at the University of California San Diego’s Machine Perception Lab developed this robot baby to help parents better communicate with their infants. At 1.2 meters (4 feet) tall and weighing 30 kilograms (66 pounds), Diego-san is a big baby—bigger than an average 1-year-old child.

“Even though the facial expression is sophisticated and intuitive in this infant robot, I still perceive a false smile when I’m expecting the baby to appear happy,” says Angela Tinwell, a senior lecturer at the University of Bolton in the U.K. and author of The Uncanny Valley in Games and Animation. “This, along with a lack of detail in the eyes and forehead, can make the baby appear vacant and creepy, so I would want to avoid those ‘dead eyes’ rather than interacting with Diego-san.”

​3. Geminoid HI

Photo: Osaka University/ATR/Kokoro

Another one of Ishiguro’s creations, Geminoid HI is his android replica. He even took hair from his own scalp to put onto his robot twin. Ishiguro says he created Geminoid HI to better understand what it means to be human.

4. Sophia

Photo: Mikhail Tereshchenko/TASS/Getty Images

Designed by David Hanson of Hanson Robotics, Sophia is one of the most famous humanoid robots. Like Soul Machines’ AVA, Sophia displays a range of emotional expressions and is equipped with natural language processing capabilities.

5. Anthropomorphized felines

The uncanny valley doesn’t only happen with robots that adopt a human form. The 2019 live-action versions of the animated film The Lion King and the musical Cats brought the uncanny valley to the forefront of pop culture. To some fans, the photorealistic computer animations of talking lions and singing cats that mimic human movements were just creepy.

Are you feeling that eerie sensation yet?

Uncanny Valley: Science or Pseudoscience?
Despite our continued fascination with the uncanny valley, its validity as a scientific concept is highly debated. The uncanny valley wasn’t actually proposed as a scientific concept, yet has often been criticized in that light.

Mori himself said in his IEEE Spectrum interview that he didn’t explore the concept from a rigorous scientific perspective but as more of a guideline for robot designers:

Pointing out the existence of the uncanny valley was more of a piece of advice from me to people who design robots rather than a scientific statement.

Karl MacDorman, an associate professor of human-computer interaction at Indiana University who has long studied the uncanny valley, interprets the classic graph not as expressing Mori’s theory but as a heuristic for learning the concept and organizing observations.

“I believe his theory is instead expressed by his examples, which show that a mismatch in the human likeness of appearance and touch or appearance and motion can elicit a feeling of eeriness,” MacDorman says. “In my own experiments, I have consistently reproduced this effect within and across sense modalities. For example, a mismatch in the human realism of the features of a face heightens eeriness; a robot with a human voice or a human with a robotic voice is eerie.”

How to Avoid the Uncanny Valley
Unless you intend to create creepy characters or evoke a feeling of unease, you can follow certain design principles to avoid the uncanny valley. “The effect can be reduced by not creating robots or computer-animated characters that combine features on different sides of a boundary—for example, human and nonhuman, living and nonliving, or real and artificial,” MacDorman says.

To make a robot or avatar more realistic and move it beyond the valley, Tinwell says to ensure that a character’s facial expressions match its emotive tones of speech, and that its body movements are responsive and reflect its hypothetical emotional state. Special attention must also be paid to facial elements such as the forehead, eyes, and mouth, which depict the complexities of emotion and thought. “The mouth must be modeled and animated correctly so the character doesn’t appear aggressive or portray a ‘false smile’ when they should be genuinely happy,” she says.

For Christoph Bartneck, an associate professor at the University of Canterbury in New Zealand, the goal is not to avoid the uncanny valley, but to avoid bad character animations or behaviors, stressing the importance of matching the appearance of a robot with its ability. “We’re trained to spot even the slightest divergence from ‘normal’ human movements or behavior,” he says. “Hence, we often fail in creating highly realistic, humanlike characters.”

But he warns that the uncanny valley appears to be more of an uncanny cliff. “We find the likability to increase and then crash once robots become humanlike,” he says. “But we have never observed them ever coming out of the valley. You fall off and that’s it.” Continue reading

Posted in Human Robots

#436186 Video Friday: Invasion of the Mini ...

Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We’ll also be posting a weekly calendar of upcoming robotics events for the next few months; here's what we have so far (send us your events!):

DARPA SubT Urban Circuit – February 18-27, 2020 – Olympia, Wash., USA
Let us know if you have suggestions for next week, and enjoy today’s videos.

There will be a Mini-Cheetah Workshop (sponsored by Naver Labs) a year from now at IROS 2020 in Las Vegas. Mini-Cheetahs for everyone!

That’s just a rendering, of course, but this isn’t:

[ MCW ]

I was like 95 percent sure that the Urban Circuit of the DARPA SubT Challenge was going to be in something very subway station-y. Oops!

In the Subterranean (SubT) Challenge, teams deploy autonomous ground and aerial systems to attempt to map, identify, and report artifacts along competition courses in underground environments. The artifacts represent items a first responder or service member may encounter in unknown underground sites. This video provides a preview of the Urban Circuit event location. The Urban Circuit is scheduled for February 18-27, 2020, at Satsop Business Park west of Olympia, Washington.

[ SubT ]

Researchers at SEAS and the Wyss Institute for Biologically Inspired Engineering have developed a resilient RoboBee powered by soft artificial muscles that can crash into walls, fall onto the floor, and collide with other RoboBees without being damaged. It is the first microrobot powered by soft actuators to achieve controlled flight.

To solve the problem of power density, the researchers built upon the electrically-driven soft actuators developed in the lab of David Clarke, the Extended Tarr Family Professor of Materials. These soft actuators are made using dielectric elastomers, soft materials with good insulating properties, that deform when an electric field is applied. By improving the electrode conductivity, the researchers were able to operate the actuator at 500 Hertz, on par with the rigid actuators used previously in similar robots.

Next, the researchers aim to increase the efficiency of the soft-powered robot, which still lags far behind more traditional flying robots.

[ Harvard ]

We present a system for fast and robust handovers with a robot character, together with a user study investigating the effect of robot speed and reaction time on perceived interaction quality. The system can match and exceed human speeds and confirms that users prefer human-level timing.

In a 3×3 user study, we vary the speed of the robot and add variable sensorimotor delays. We evaluate the social perception of the robot using the Robot Social Attribute Scale (RoSAS). Inclusion of a small delay, mimicking the delay of the human sensorimotor system, leads to an improvement in perceived qualities over both no delay and long delay conditions. Specifically, with no delay the robot is perceived as more discomforting and with a long delay, it is perceived as less warm.

[ Disney Research ]

When cars are autonomous, they’re not going to be able to pump themselves full of gas. Or, more likely, electrons. Kuka has the solution.

[ Kuka ]

This looks like fun, right?

[ Robocoaster ]

NASA is leading the way in the use of On-orbit Servicing, Assembly, and Manufacturing to enable large, persistent, upgradable, and maintainable spacecraft. This video was developed by the Advanced Concepts Lab (ACL) at NASA Langley Research Center.

[ NASA ]

The noisiest workshop by far at Humanoids last month (by far) was Musical Interactions With Humanoids, the end result of which was this:

[ Workshop ]

IROS is an IEEE event, and in furthering the IEEE mission to benefit humanity through technological innovation, IROS is doing a great job. But don’t take it from us – we are joined by IEEE President-Elect Professor Toshio Fukuda to find out a bit more about the impact events like IROS can have, as well as examine some of the issues around intelligent robotics and systems – from privacy to transparency of the systems at play.

[ IROS ]

Speaking of IROS, we hope you’ve been enjoying our coverage. We have already featured Harvard’s strange sea-urchin-inspired robot and a Japanese quadruped that can climb vertical ladders, with more stories to come over the next several weeks.

In the mean time, enjoy these 10 videos from the conference (as usual, we’re including the title, authors, and abstract for each—if you’d like more details about any of these projects, let us know and we’ll find out more for you).

“A Passive Closing, Tendon Driven, Adaptive Robot Hand for Ultra-Fast, Aerial Grasping and Perching,” by Andrew McLaren, Zak Fitzgerald, Geng Gao, and Minas Liarokapis from the University of Auckland, New Zealand.

Current grasping methods for aerial vehicles are slow, inaccurate and they cannot adapt to any target object. Thus, they do not allow for on-the-fly, ultra-fast grasping. In this paper, we present a passive closing, adaptive robot hand design that offers ultra-fast, aerial grasping for a wide range of everyday objects. We investigate alternative uses of structural compliance for the development of simple, adaptive robot grippers and hands and we propose an appropriate quick release mechanism that facilitates an instantaneous grasping execution. The quick release mechanism is triggered by a simple distance sensor. The proposed hand utilizes only two actuators to control multiple degrees of freedom over three fingers and it retains the superior grasping capabilities of adaptive grasping mechanisms, even under significant object pose or other environmental uncertainties. The hand achieves a grasping time of 96 ms, a maximum grasping force of 56 N and it is able to secure objects of various shapes at high speeds. The proposed hand can serve as the end-effector of grasping capable Unmanned Aerial Vehicle (UAV) platforms and it can offer perching capabilities, facilitating autonomous docking.

“Unstructured Terrain Navigation and Topographic Mapping With a Low-Cost Mobile Cuboid Robot,” by Andrew S. Morgan, Robert L. Baines, Hayley McClintock, and Brian Scassellati from Yale University, USA.

Current robotic terrain mapping techniques require expensive sensor suites to construct an environmental representation. In this work, we present a cube-shaped robot that can roll through unstructured terrain and construct a detailed topographic map of the surface that it traverses in real time with low computational and monetary expense. Our approach devolves many of the complexities of locomotion and mapping to passive mechanical features. Namely, rolling movement is achieved by sequentially inflating latex bladders that are located on four sides of the robot to destabilize and tip it. Sensing is achieved via arrays of fine plastic pins that passively conform to the geometry of underlying terrain, retracting into the cube. We developed a topography by shade algorithm to process images of the displaced pins to reconstruct terrain contours and elevation. We experimentally validated the efficacy of the proposed robot through object mapping and terrain locomotion tasks.

“Toward a Ballbot for Physically Leading People: A Human-Centered Approach,” by Zhongyu Li and Ralph Hollis from Carnegie Mellon University, USA.

This work presents a new human-centered method for indoor service robots to provide people with physical assistance and active guidance while traveling through congested and narrow spaces. As most previous work is robot-centered, this paper develops an end-to-end framework which includes a feedback path of the measured human positions. The framework combines a planning algorithm and a human-robot interaction module to guide the led person to a specified planned position. The approach is deployed on a person-size dynamically stable mobile robot, the CMU ballbot. Trials were conducted where the ballbot physically led a blindfolded person to safely navigate in a cluttered environment.

“Achievement of Online Agile Manipulation Task for Aerial Transformable Multilink Robot,” by Fan Shi, Moju Zhao, Tomoki Anzai, Keita Ito, Xiangyu Chen, Kei Okada, and Masayuki Inaba from the University of Tokyo, Japan.

Transformable aerial robots are favorable in aerial manipulation tasks for their flexible ability to change configuration during the flight. By assuming robot keeping in the mild motion, the previous researches sacrifice aerial agility to simplify the complex non-linear system into a single rigid body with a linear controller. In this paper, we present a framework towards agile swing motion for the transformable multi-links aerial robot. We introduce a computational-efficient non-linear model predictive controller and joints motion primitive frame-work to achieve agile transforming motions and validate with a novel robot named HYRURS-X. Finally, we implement our framework under a table tennis task to validate the online and agile performance.

“Small-Scale Compliant Dual Arm With Tail for Winged Aerial Robots,” by Alejandro Suarez, Manuel Perez, Guillermo Heredia, and Anibal Ollero from the University of Seville, Spain.

Winged aerial robots represent an evolution of aerial manipulation robots, replacing the multirotor vehicles by fixed or flapping wing platforms. The development of this morphology is motivated in terms of efficiency, endurance and safety in some inspection operations where multirotor platforms may not be suitable. This paper presents a first prototype of compliant dual arm as preliminary step towards the realization of a winged aerial robot capable of perching and manipulating with the wings folded. The dual arm provides 6 DOF (degrees of freedom) for end effector positioning in a human-like kinematic configuration, with a reach of 25 cm (half-scale w.r.t. the human arm), and 0.2 kg weight. The prototype is built with micro metal gear motors, measuring the joint angles and the deflection with small potentiometers. The paper covers the design, electronics, modeling and control of the arms. Experimental results in test-bench validate the developed prototype and its functionalities, including joint position and torque control, bimanual grasping, the dynamic equilibrium with the tail, and the generation of 3D maps with laser sensors attached at the arms.

“A Novel Small-Scale Turtle-inspired Amphibious Spherical Robot,” by Huiming Xing, Shuxiang Guo, Liwei Shi, Xihuan Hou, Yu Liu, Huikang Liu, Yao Hu, Debin Xia, and Zan Li from Beijing Institute of Technology, China.

This paper describes a novel small-scale turtle-inspired Amphibious Spherical Robot (ASRobot) to accomplish exploration tasks in the restricted environment, such as amphibious areas and narrow underwater cave. A Legged, Multi-Vectored Water-Jet Composite Propulsion Mechanism (LMVWCPM) is designed with four legs, one of which contains three connecting rod parts, one water-jet thruster and three joints driven by digital servos. Using this mechanism, the robot is able to walk like amphibious turtles on various terrains and swim flexibly in submarine environment. A simplified kinematic model is established to analyze crawling gaits. With simulation of the crawling gait, the driving torques of different joints contributed to the choice of servos and the size of links of legs. Then we also modeled the robot in water and proposed several underwater locomotion. In order to assess the performance of the proposed robot, a series of experiments were carried out in the lab pool and on flat ground using the prototype robot. Experiments results verified the effectiveness of LMVWCPM and the amphibious control approaches.

“Advanced Autonomy on a Low-Cost Educational Drone Platform,” by Luke Eller, Theo Guerin, Baichuan Huang, Garrett Warren, Sophie Yang, Josh Roy, and Stefanie Tellex from Brown University, USA.

PiDrone is a quadrotor platform created to accompany an introductory robotics course. Students build an autonomous flying robot from scratch and learn to program it through assignments and projects. Existing educational robots do not have significant autonomous capabilities, such as high-level planning and mapping. We present a hardware and software framework for an autonomous aerial robot, in which all software for autonomy can run onboard the drone, implemented in Python. We present an Unscented Kalman Filter (UKF) for accurate state estimation. Next, we present an implementation of Monte Carlo (MC) Localization and Fast-SLAM for Simultaneous Localization and Mapping (SLAM). The performance of UKF, localization, and SLAM is tested and compared to ground truth, provided by a motion-capture system. Our evaluation demonstrates that our autonomous educational framework runs quickly and accurately on a Raspberry Pi in Python, making it ideal for use in educational settings.

“FlightGoggles: Photorealistic Sensor Simulation for Perception-driven Robotics using Photogrammetry and Virtual Reality,” by Winter Guerra, Ezra Tal, Varun Murali, Gilhyun Ryou and Sertac Karaman from the Massachusetts Institute of Technology, USA.

FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic exteroceptive sensor simulation using graphics assets generated with photogrammetry. Second, it provides the ability to combine (i) synthetic exteroceptive measurements generated in silico in real time and (ii) vehicle dynamics and proprioceptive measurements generated in motio by vehicle(s) in flight in a motion-capture facility. FlightGoggles is capable of simulating a virtual-reality environment around autonomous vehicle(s) in flight. While a vehicle is in flight in the FlightGoggles virtual reality environment, exteroceptive sensors are rendered synthetically in real time while all complex dynamics are generated organically through natural interactions of the vehicle. The FlightGoggles framework allows for researchers to accelerate development by circumventing the need to estimate complex and hard-to-model interactions such as aerodynamics, motor mechanics, battery electrochemistry, and behavior of other agents. The ability to perform vehicle-in-the-loop experiments with photorealistic exteroceptive sensor simulation facilitates novel research directions involving, e.g., fast and agile autonomous flight in obstacle-rich environments, safe human interaction, and flexible sensor selection. FlightGoggles has been utilized as the main test for selecting nine teams that will advance in the AlphaPilot autonomous drone racing challenge. We survey approaches and results from the top AlphaPilot teams, which may be of independent interest. FlightGoggles is distributed as open-source software along with the photorealistic graphics assets for several simulation environments, under the MIT license at http://flightgoggles.mit.edu.

“An Autonomous Quadrotor System for Robust High-Speed Flight Through Cluttered Environments Without GPS,” by Marc Rigter, Benjamin Morrell, Robert G. Reid, Gene B. Merewether, Theodore Tzanetos, Vinay Rajur, KC Wong, and Larry H. Matthies from University of Sydney, Australia; NASA Jet Propulsion Laboratory, California Institute of Technology, USA; and Georgia Institute of Technology, USA.

Robust autonomous flight without GPS is key to many emerging drone applications, such as delivery, search and rescue, and warehouse inspection. These and other appli- cations require accurate trajectory tracking through cluttered static environments, where GPS can be unreliable, while high- speed, agile, flight can increase efficiency. We describe the hardware and software of a quadrotor system that meets these requirements with onboard processing: a custom 300 mm wide quadrotor that uses two wide-field-of-view cameras for visual- inertial motion tracking and relocalization to a prior map. Collision-free trajectories are planned offline and tracked online with a custom tracking controller. This controller includes compensation for drag and variability in propeller performance, enabling accurate trajectory tracking, even at high speeds where aerodynamic effects are significant. We describe a system identification approach that identifies quadrotor-specific parameters via maximum likelihood estimation from flight data. Results from flight experiments are presented, which 1) validate the system identification method, 2) show that our controller with aerodynamic compensation reduces tracking error by more than 50% in both horizontal flights at up to 8.5 m/s and vertical flights at up to 3.1 m/s compared to the state-of-the-art, and 3) demonstrate our system tracking complex, aggressive, trajectories.

“Morphing Structure for Changing Hydrodynamic Characteristics of a Soft Underwater Walking Robot,” by Michael Ishida, Dylan Drotman, Benjamin Shih, Mark Hermes, Mitul Luhar, and Michael T. Tolley from the University of California, San Diego (UCSD) and University of Southern California, USA.

Existing platforms for underwater exploration and inspection are often limited to traversing open water and must expend large amounts of energy to maintain a position in flow for long periods of time. Many benthic animals overcome these limitations using legged locomotion and have different hydrodynamic profiles dictated by different body morphologies. This work presents an underwater legged robot with soft legs and a soft inflatable morphing body that can change shape to influence its hydrodynamic characteristics. Flow over the morphing body separates behind the trailing edge of the inflated shape, so whether the protrusion is at the front, center, or back of the robot influences the amount of drag and lift. When the legged robot (2.87 N underwater weight) needs to remain stationary in flow, an asymmetrically inflated body resists sliding by reducing lift on the body by 40% (from 0.52 N to 0.31 N) at the highest flow rate tested while only increasing drag by 5.5% (from 1.75 N to 1.85 N). When the legged robot needs to walk with flow, a large inflated body is pushed along by the flow, causing the robot to walk 16% faster than it would with an uninflated body. The body shape significantly affects the ability of the robot to walk against flow as it is able to walk against 0.09 m/s flow with the uninflated body, but is pushed backwards with a large inflated body. We demonstrate that the robot can detect changes in flow velocity with a commercial force sensor and respond by morphing into a hydrodynamically preferable shape. Continue reading

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#436184 Why People Demanded Privacy to Confide ...

This is part four of a six-part series on the history of natural language processing.

Between 1964 and 1966, Joseph Weizenbaum, a German American computer scientist at MIT’s artificial intelligence lab, developed the first-ever chatbot [PDF].

While there were already some rudimentary digital language generators in existence—programs that could spit out somewhat coherent lines of text—Weizenbaum’s program was the first designed explicitly for interactions with humans. The user could type in some statement or set of statements in their normal language, press enter, and receive a response from the machine. As Weizenbaum explained, his program made “certain kinds of natural-language conversation between man and computer possible.”

He named the program Eliza after Eliza Doolittle, the working-class hero of George Bernard Shaw’s Pygmalion who learns how to talk with an upper-class accent. The new Eliza was written for the 36-bit IBM 7094, an early transistorized mainframe computer, in a programming language that Weizenbaum developed called MAD-SLIP.

Because computer time was a valuable resource, Eliza could only be run via a time-sharing system; the user interacted with the program remotely via an electric typewriter and printer. When the user typed in a sentence and pressed enter, a message was sent to the mainframe computer. Eliza scanned the message for the presence of a keyword and used it in a new sentence to form a response that was sent back, printed out, and read by the user.

To encourage ongoing dialogue, Weizenbaum designed Eliza to simulate the type of conversational style used by a Rogerian psychoanalyst. The program would take something the user said and reflect it back with a question, as can be seen in the example below. (Notice how the program takes keywords like “boyfriend” and “depressed” and re-uses them.)

Human: Men are all alike.

Computer: IN WHAT WAY?

Human: They're always bugging us about something or other.

Computer: CAN YOU THINK OF A SPECIFIC EXAMPLE?

Human: Well, my boyfriend made me come here.

Computer: YOUR BOYFRIEND MADE YOU COME HERE

Human: He says I'm depressed much of the time.

Computer: I AM SORRY TO HEAR YOU ARE DEPRESSED

Human: It's true. I am unhappy.

Weizenbaum chose this mode of dialogue for Eliza because it gave the impression that the computer understood what was being said without having to offer anything new to the conversation. It created the illusion of comprehension and engagement in a mere 200 lines of code.

To test Eliza’s capacity to engage an interlocutor, Weizenbaum invited students and colleagues into his office and let them chat with the machine while he looked on. He noticed, with some concern, that during their brief interactions with Eliza, many users began forming emotional attachments to the algorithm. They would open up to the machine and confess problems they were facing in their lives and relationships.

During their brief interactions with Eliza, many users began forming emotional attachments to the algorithm.

Even more surprising was that this sense of intimacy persisted even after Weizenbaum described how the machine worked and explained that it didn’t really understand anything that was being said. Weizenbaum was most troubled when his secretary, who had watched him build the program from scratch over many months, insisted that he leave the room so she could talk to Eliza in private.

For Weizenbaum, this experiment with Eliza made him question an idea that Alan Turing had proposed in 1950 about machine intelligence. In his paper, entitled “Computing Machinery and Intelligence,” Turing suggested that if a computer could conduct a convincingly human conversation in text, one could assume it was intelligent—an idea that became the basis of the famous Turing Test.

But Eliza demonstrated that convincing communication between a human and a machine could take place even if comprehension only flowed from one side: The simulation of intelligence, rather than intelligence itself, was enough to fool people. Weizenbaum called this the Eliza effect, and believed it was a type of “delusional thinking” that humanity would collectively suffer from in the digital age. This insight was a profound shock for Weizenbaum, and one that came to define his intellectual trajectory over the next decade.

The simulation of intelligence, rather than intelligence itself, was enough to fool people.

In 1976, he published Computing Power and Human Reason: From Judgment to Calculation [PDF], which offered a long meditation on why people are willing to believe that a simple machine might be able to understand their complex human emotions.

In this book, he argues that the Eliza effect signifies a broader pathology afflicting “modern man.” In a world conquered by science, technology, and capitalism, people had grown accustomed to viewing themselves as isolated cogs in a large and uncaring machine. In such a diminished social world, Weizenbaum reasoned, people had grown so desperate for connection that they put aside their reason and judgment in order to believe that a program could care about their problems.

Weizenbaum spent the rest of his life developing this humanistic critique of artificial intelligence and digital technology. His mission was to remind people that their machines were not as smart as they were often said to be. And that even though it sometimes appeared as though they could talk, they were never really listening.

This is the fourth installment of a six-part series on the history of natural language processing. Last week’s post described Andrey Markov and Claude Shannon’s painstaking efforts to create statistical models of language for text generation. Come back next Monday for part five, “In 2016, Microsoft’s Racist Chatbot Revealed the Dangers of Conversation.”

You can also check out our prior series on the untold history of AI. Continue reading

Posted in Human Robots