Tag Archives: features

#437695 Video Friday: Even Robots Know That You ...

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!):

CLAWAR 2020 – August 24-26, 2020 – [Online Conference]
Other Than Human – September 3-10, 2020 – Stockholm, Sweden
ICRES 2020 – September 28-29, 2020 – Taipei, Taiwan
AUVSI EXPONENTIAL 2020 – October 5-8, 2020 – [Online Conference]
IROS 2020 – October 25-29, 2020 – Las Vegas, Nev., USA
CYBATHLON 2020 – November 13-14, 2020 – [Online Event]
ICSR 2020 – November 14-16, 2020 – Golden, Colo., USA
Let us know if you have suggestions for next week, and enjoy today's videos.

From the Robotics and Perception Group at UZH comes Flightmare, a simulation environment for drones that combines a slick rendering engine with a robust physics engine that can run as fast as your system can handle.

Flightmare is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation. Those two components are totally decoupled and can run independently from each other. Flightmare comes with several desirable features: (i) a large multi-modal sensor suite, including an interface to extract the 3D point-cloud of the scene; (ii) an API for reinforcement learning which can simulate hundreds of quadrotors in parallel; and (iii) an integration with a virtual-reality headset for interaction with the simulated environment. Flightmare can be used for various applications, including path-planning, reinforcement learning, visual-inertial odometry, deep learning, human-robot interaction, etc.

[ Flightmare ]

Quadruped robots yelling at people to maintain social distancing is really starting to become a thing, for better or worse.

We introduce a fully autonomous surveillance robot based on a quadruped platform that can promote social distancing in complex urban environments. Specifically, to achieve autonomy, we mount multiple cameras and a 3D LiDAR on the legged robot. The robot then uses an onboard real-time social distancing detection system to track nearby pedestrian groups. Next, the robot uses a crowd-aware navigation algorithm to move freely in highly dynamic scenarios. The robot finally uses a crowd aware routing algorithm to effectively promote social distancing by using human-friendly verbal cues to send suggestions to overcrowded pedestrians.

[ Project ]

Thanks Fan!

The Personal Robotics Group at Oregon State University is looking at UV germicidal irradiation for surface disinfection with a Fetch Manipulator Robot.

Fetch Robot disinfecting dance party woo!

[ Oregon State ]

How could you not take a mask from this robot?

[ Reachy ]

This work presents the design, development and autonomous navigation of the alpha-version of our Resilient Micro Flyer, a new type of collision-tolerant small aerial robot tailored to traversing and searching within highly confined environments including manhole-sized tubes. The robot is particularly lightweight and agile, while it implements a rigid collision-tolerant design which renders it resilient during forcible interaction with the environment. Furthermore, the design of the system is enhanced through passive flaps ensuring smoother and more compliant collision which was identified to be especially useful in very confined settings.

[ ARL ]

Pepper can make maps and autonomously navigate, which is interesting, but not as interesting as its posture when it's wandering around.

Dat backing into the charging dock tho.

[ Pepper ]

RatChair a strategy for displacing big objects by attaching relatively small vibration sources. After learning how several random bursts of vibration affect its pose, an optimization algorithm discovers the optimal sequence of vibration patterns required to (slowly but surely) move the object to a specified position.

This is from 2015, why isn't all of my furniture autonomous yet?!

[ KAIST ]

The new SeaDrone Pro is designed to be the underwater equivalent of a quadrotor. This video is a rendering, but we've been assured that it does actually exist.

[ SeaDrone ]

Thanks Eduardo!

Porous Loops is a lightweight composite facade panel that shows the potential of 3D printing of mineral foams for building scale applications.

[ ETH ]

Thanks Fan!

Here's an interesting idea for a robotic gripper- it's what appears to be a snap bracelet coupled to a pneumatic actuator that allows the snap bracelet to be reset.

[ Georgia Tech ]

Graze is developing a commercial robotic lawnmower. They're also doing a sort of crowdfunded investment thing, which probably explains the painfully overproduced nature of the following video:

A couple things about this: the hard part, which the video skips over almost entirely, is the mapping, localization, and understanding where to mow and where not to mow. The pitch deck seems to suggest that this is mostly done through computer vision, a thing that's perhaps easy to do under controlled ideal conditions, but difficult to apply to a world full lawns that are all different. The commercial aspect is interesting because golf courses are likely as standardized as you can get, but the emphasis here on how much money they can make without really addressing any of the technical stuff makes me raise an eyebrow or two.

[ Graze ]

The record & playback X-series arm demo allows the user to record the arm's movements while motors are torqued off. Then, the user may torque the motor's on and watch the movements they just made playback!

[ Interbotix ]

Shadow Robot has a new teleop system for its hand. I'm guessing that it's even trickier to use than it looks.

[ Shadow Robot ]

Quanser Interactive Labs is a collection of virtual hardware-based laboratory activities that supplement traditional or online courses. Same as working with physical systems in the lab, students work with virtual twins of Quanser's most popular plants, develop their mathematical models, implement and simulate the dynamic behavior of these systems, design controllers, and validate them on a high-fidelity 3D real-time virtual models. The virtual systems not only look like the real ones, they also behave, can be manipulated, measured, and controlled like real devices. And finally, when students go to the lab, they can deploy their virtually-validated designs on actual physical equipment.

[ Quanser ]

This video shows robot-assisted heart surgery. It's amazing to watch if you haven't seen this sort of thing before, but be aware that there is a lot of blood.

This video demonstrates a fascinating case of robotic left atrial myxoma excision, narrated by Joel Dunning, Middlesbrough, UK. The Robotic platform provides superior visualisation and enhanced dexterity, through keyhole incisions. Robotic surgery is an integral part of our Minimally Invasive Cardiothoracic Surgery Program.

[ Tristan D. Yan ]

Thanks Fan!

In this talk, we present our work on learning control policies directly in simulation that are deployed onto real drones without any fine tuning. The presentation covers autonomous drone racing, drone acrobatics, and uncertainty estimation in deep networks.

[ RPG ] Continue reading

Posted in Human Robots

#437683 iRobot Remembers That Robots Are ...

iRobot has released several new robots over the last few years, including the i7 and s9 vacuums. Both of these models are very fancy and very capable, packed with innovative and useful features that we’ve been impressed by. They’re both also quite expensive—with dirt docks included, you’re looking at US $800 for the i7+, and a whopping $1,100 for the s9+. You can knock a couple hundred bucks off of those prices if you don’t want the docks, but still, these vacuums are absolutely luxury items.

If you just want something that’ll do some vacuuming so that you don’t have to, iRobot has recently announced a new Roomba option. The Roomba i3 is iRobot’s new low to midrange vacuum, starting at $400. It’s not nearly as smart as the i7 or the s9, but it can navigate (sort of) and make maps (sort of) and do some basic smart home integration. If that sounds like all you need, the i3 could be the robot vacuum for you.

iRobot calls the i3 “stylish,” and it does look pretty neat with that fabric top. Underneath, you get dual rubber primary brushes plus a side brush. There’s limited compatibility with the iRobot Home app and IFTTT, along with Alexa and Google Home. The i3 is also compatible with iRobot’s Clean Base, but that’ll cost you an extra $200, and iRobot refers to this bundle as the i3+.

The reason that the i3 only offers limited compatibility with iRobot’s app is that the i3 is missing the top-mounted camera that you’ll find in more expensive models. Instead, it relies on a downward-looking optical sensor to help it navigate, and it builds up a map as it’s cleaning by keeping track of when it bumps into obstacles and paying attention to internal sensors like a gyro and wheel odometers. The i3 can localize directly on its charging station or Clean Base (which have beacons on them that the robot can see if it’s close enough), which allows it to resume cleaning after emptying it’s bin or recharging. You’ll get a map of the area that the i3 has cleaned once it’s finished, but that map won’t persist between cleaning sessions, meaning that you can’t do things like set keep-out zones or identify specific rooms for the robot to clean. Many of the more useful features that iRobot’s app offers are based on persistent maps, and this is probably the biggest gap in functionality between the i3 and its more expensive siblings.

According to iRobot senior global product manager Sarah Wang, the kind of augmented dead-reckoning-based mapping that the i3 uses actually works really well: “Based on our internal and external testing, the performance is equivalent with our products that have cameras, like the Roomba 960,” she says. To get this level of performance, though, you do have to be careful, Wang adds. “If you kidnap i3, then it will be very confused, because it doesn’t have a reference to know where it is.” “Kidnapping” is a term that’s used often in robotics to refer to a situation in which an autonomous robot gets moved to an unmapped location, and in the context of a home robot, the best example of this is if you decide that you want your robot to vacuum a different room instead, so you pick it up and move it there.

iRobot used to make this easy by giving all of its robots carrying handles, but not anymore, because getting moved around makes things really difficult for any robot trying to keep track of where it is. While robots like the i7 can recover using their cameras to look for unique features that they recognize, the only permanent, unique landmark that the i3 can for sure identify is the beacon on its dock. What this means is that when it comes to the i3, even more than other Roomba models, the best strategy, is to just “let it do its thing,” says iRobot senior principal system engineer Landon Unninayar.

Photo: iRobot

The Roomba i3 is iRobot’s new low to midrange vacuum, starting at $400.

If you’re looking to spend a bit less than the $400 starting price of the i3, there are other options to be aware of as well. The Roomba 614, for example, does a totally decent job and costs $250. It’s scheduling isn’t very clever, it doesn’t make maps, and it won’t empty itself, but it will absolutely help keep your floors clean as long as you don’t mind being a little bit more hands-on. (And there’s also Neato’s D4, which offers basic persistent maps—and lasers!—for $330.)

The other thing to consider if you’re trying to decide between the i3 and a more expensive Roomba is that without the camera, the i3 likely won’t be able to take advantage of nearly as many of the future improvements that iRobot has said it’s working on. Spending more money on a robot with additional sensors isn’t just buying what it can do now, but also investing in what it may be able to do later on, with its more sophisticated localization and ability to recognize objects. iRobot has promised major app updates every six months, and our guess is that most of the cool new stuff is going to show in the i7 and s9. So, if your top priority is just cleaner floors, the i3 is a solid choice. But if you want a part of what iRobot is working on next, the i3 might end up holding you back. Continue reading

Posted in Human Robots

#437673 Can AI and Automation Deliver a COVID-19 ...

Illustration: Marysia Machulska

Within moments of meeting each other at a conference last year, Nathan Collins and Yann Gaston-Mathé began devising a plan to work together. Gaston-Mathé runs a startup that applies automated software to the design of new drug candidates. Collins leads a team that uses an automated chemistry platform to synthesize new drug candidates.

“There was an obvious synergy between their technology and ours,” recalls Gaston-Mathé, CEO and cofounder of Paris-based Iktos.

In late 2019, the pair launched a project to create a brand-new antiviral drug that would block a specific protein exploited by influenza viruses. Then the COVID-19 pandemic erupted across the world stage, and Gaston-Mathé and Collins learned that the viral culprit, SARS-CoV-2, relied on a protein that was 97 percent similar to their influenza protein. The partners pivoted.

Their companies are just two of hundreds of biotech firms eager to overhaul the drug-discovery process, often with the aid of artificial intelligence (AI) tools. The first set of antiviral drugs to treat COVID-19 will likely come from sifting through existing drugs. Remdesivir, for example, was originally developed to treat Ebola, and it has been shown to speed the recovery of hospitalized COVID-19 patients. But a drug made for one condition often has side effects and limited potency when applied to another. If researchers can produce an ­antiviral that specifically targets SARS-CoV-2, the drug would likely be safer and more effective than a repurposed drug.

There’s one big problem: Traditional drug discovery is far too slow to react to a pandemic. Designing a drug from scratch typically takes three to five years—and that’s before human clinical trials. “Our goal, with the combination of AI and automation, is to reduce that down to six months or less,” says Collins, who is chief strategy officer at SRI Biosciences, a division of the Silicon Valley research nonprofit SRI International. “We want to get this to be very, very fast.”

That sentiment is shared by small biotech firms and big pharmaceutical companies alike, many of which are now ramping up automated technologies backed by supercomputing power to predict, design, and test new antivirals—for this pandemic as well as the next—with unprecedented speed and scope.

“The entire industry is embracing these tools,” says Kara Carter, president of the International Society for Antiviral Research and executive vice president of infectious disease at Evotec, a drug-discovery company in Hamburg. “Not only do we need [new antivirals] to treat the SARS-CoV-2 infection in the population, which is probably here to stay, but we’ll also need them to treat future agents that arrive.”

There are currentlyabout 200 known viruses that infect humans. Although viruses represent less than 14 percent of all known human pathogens, they make up two-thirds of all new human pathogens discovered since 1980.

Antiviral drugs are fundamentally different from vaccines, which teach a person’s immune system to mount a defense against a viral invader, and antibody treatments, which enhance the body’s immune response. By contrast, anti­virals are chemical compounds that directly block a virus after a person has become infected. They do this by binding to specific proteins and preventing them from functioning, so that the virus cannot copy itself or enter or exit a cell.

The SARS-CoV-2 virus has an estimated 25 to 29 proteins, but not all of them are suitable drug targets. Researchers are investigating, among other targets, the virus’s exterior spike protein, which binds to a receptor on a human cell; two scissorlike enzymes, called proteases, that cut up long strings of viral proteins into functional pieces inside the cell; and a polymerase complex that makes the cell churn out copies of the virus’s genetic material, in the form of single-stranded RNA.

But it’s not enough for a drug candidate to simply attach to a target protein. Chemists also consider how tightly the compound binds to its target, whether it binds to other things as well, how quickly it metabolizes in the body, and so on. A drug candidate may have 10 to 20 such objectives. “Very often those objectives can appear to be anticorrelated or contradictory with each other,” says Gaston-Mathé.

Compared with antibiotics, antiviral drug discovery has proceeded at a snail’s pace. Scientists advanced from isolating the first antibacterial molecules in 1910 to developing an arsenal of powerful antibiotics by 1944. By contrast, it took until 1951 for researchers to be able to routinely grow large amounts of virus particles in cells in a dish, a breakthrough that earned the inventors a Nobel Prize in Medicine in 1954.

And the lag between the discovery of a virus and the creation of a treatment can be heartbreaking. According to the World Health Organization, 71 million people worldwide have chronic hepatitis C, a major cause of liver cancer. The virus that causes the infection was discovered in 1989, but effective antiviral drugs didn’t hit the market until 2014.

While many antibiotics work on a range of microbes, most antivirals are highly specific to a single virus—what those in the business call “one bug, one drug.” It takes a detailed understanding of a virus to develop an antiviral against it, says Che Colpitts, a virologist at Queen’s University, in Canada, who works on antivirals against RNA viruses. “When a new virus emerges, like SARS-CoV-2, we’re at a big disadvantage.”

Making drugs to stop viruses is hard for three main reasons. First, viruses are the Spartans of the pathogen world: They’re frugal, brutal, and expert at evading the human immune system. About 20 to 250 nanometers in diameter, viruses rely on just a few parts to operate, hijacking host cells to reproduce and often destroying those cells upon departure. They employ tricks to camouflage their presence from the host’s immune system, including preventing infected cells from sending out molecular distress beacons. “Viruses are really small, so they only have a few components, so there’s not that many drug targets available to start with,” says Colpitts.

Second, viruses replicate quickly, typically doubling in number in hours or days. This constant copying of their genetic material enables viruses to evolve quickly, producing mutations able to sidestep drug effects. The virus that causes AIDS soon develops resistance when exposed to a single drug. That’s why a cocktail of antiviral drugs is used to treat HIV infection.

Finally, unlike bacteria, which can exist independently outside human cells, viruses invade human cells to propagate, so any drug designed to eliminate a virus needs to spare the host cell. A drug that fails to distinguish between a virus and a cell can cause serious side effects. “Discriminating between the two is really quite difficult,” says Evotec’s Carter, who has worked in antiviral drug discovery for over three decades.

And then there’s the money barrier. Developing antivirals is rarely profitable. Health-policy researchers at the London School of Economics recently estimated that the average cost of developing a new drug is US $1 billion, and up to $2.8 billion for cancer and other specialty drugs. Because antivirals are usually taken for only short periods of time or during short outbreaks of disease, companies rarely recoup what they spent developing the drug, much less turn a profit, says Carter.

To change the status quo, drug discovery needs fresh approaches that leverage new technologies, rather than incremental improvements, says Christian Tidona, managing director of BioMed X, an independent research institute in Heidelberg, Germany. “We need breakthroughs.”

Putting Drug Development on Autopilot
Earlier this year, SRI Biosciences and Iktos began collaborating on a way to use artificial intelligence and automated chemistry to rapidly identify new drugs to target the COVID-19 virus. Within four months, they had designed and synthesized a first round of antiviral candidates. Here’s how they’re doing it.

1/5

STEP 1: Iktos’s AI platform uses deep-learning algorithms in an iterative process to come up with new molecular structures likely to bind to and disable a specific coronavirus protein. Illustrations: Chris Philpot

2/5

STEP 2: SRI Biosciences’s SynFini system is a three-part automated chemistry suite for producing new compounds. Starting with a target compound from Iktos, SynRoute uses machine learning to analyze and optimize routes for creating that compound, with results in about 10 seconds. It prioritizes routes based on cost, likelihood of success, and ease of implementation.

3/5

STEP 3: SynJet, an automated inkjet printer platform, tests the routes by printing out tiny quantities of chemical ingredients to see how they react. If the right compound is produced, the platform tests it.

4/5

STEP 4: AutoSyn, an automated tabletop chemical plant, synthesizes milligrams to grams of the desired compound for further testing. Computer-selected “maps” dictate paths through the plant’s modular components.

5/5

STEP 5: The most promising compounds are tested against live virus samples.

Previous
Next

Iktos’s AI platform was created by a medicinal chemist and an AI expert. To tackle SARS-CoV-2, the company used generative models—deep-learning algorithms that generate new data—to “imagine” molecular structures with a good chance of disabling a key coronavirus protein.

For a new drug target, the software proposes and evaluates roughly 1 million compounds, says Gaston-Mathé. It’s an iterative process: At each step, the system generates 100 virtual compounds, which are tested in silico with predictive models to see how closely they meet the objectives. The test results are then used to design the next batch of compounds. “It’s like we have a very, very fast chemist who is designing compounds, testing compounds, getting back the data, then designing another batch of compounds,” he says.

The computer isn’t as smart as a human chemist, Gaston-Mathé notes, but it’s much faster, so it can explore far more of what people in the field call “chemical space”—the set of all possible organic compounds. Unexplored chemical space is huge: Biochemists estimate that there are at least 1063 possible druglike molecules, and that 99.9 percent of all possible small molecules or compounds have never been synthesized.

Still, designing a chemical compound isn’t the hardest part of creating a new drug. After a drug candidate is designed, it must be synthesized, and the highly manual process for synthesizing a new chemical hasn’t changed much in 200 years. It can take days to plan a synthesis process and then months to years to optimize it for manufacture.

That’s why Gaston-Mathé was eager to send Iktos’s AI-generated designs to Collins’s team at SRI Biosciences. With $13.8 million from the Defense Advanced Research Projects Agency, SRI Biosciences spent the last four years automating the synthesis process. The company’s automated suite of three technologies, called SynFini, can produce new chemical compounds in just hours or days, says Collins.

First, machine-learning software devises possible routes for making a desired molecule. Next, an inkjet printer platform tests the routes by printing out and mixing tiny quantities of chemical ingredients to see how they react with one another; if the right compound is produced, the platform runs tests on it. Finally, a tabletop chemical plant synthesizes milligrams to grams of the desired compound.

Less than four months after Iktos and SRI Biosciences announced their collaboration, they had designed and synthesized a first round of antiviral candidates for SARS-CoV-2. Now they’re testing how well the compounds work on actual samples of the virus.

Out of 10
63 possible druglike molecules, 99.9 percent have never been synthesized.

Theirs isn’t the only collaborationapplying new tools to drug discovery. In late March, Alex Zhavoronkov, CEO of Hong Kong–based Insilico Medicine, came across a YouTube video showing three virtual-reality avatars positioning colorful, sticklike fragments in the side of a bulbous blue protein. The three researchers were using VR to explore how compounds might bind to a SARS-CoV-2 enzyme. Zhavoronkov contacted the startup that created the simulation—Nanome, in San Diego—and invited it to examine Insilico’s ­AI-generated molecules in virtual reality.

Insilico runs an AI platform that uses biological data to train deep-learning algorithms, then uses those algorithms to identify molecules with druglike features that will likely bind to a protein target. A four-day training sprint in late January yielded 100 molecules that appear to bind to an important SARS-CoV-2 protease. The company recently began synthesizing some of those molecules for laboratory testing.

Nanome’s VR software, meanwhile, allows researchers to import a molecular structure, then view and manipulate it on the scale of individual atoms. Like human chess players who use computer programs to explore potential moves, chemists can use VR to predict how to make molecules more druglike, says Nanome CEO Steve McCloskey. “The tighter the interface between the human and the computer, the more information goes both ways,” he says.

Zhavoronkov sent data about several of Insilico’s compounds to Nanome, which re-created them in VR. Nanome’s chemist demonstrated chemical tweaks to potentially improve each compound. “It was a very good experience,” says Zhavoronkov.

Meanwhile, in March, Takeda Pharmaceutical Co., of Japan, invited Schrödinger, a New York–based company that develops chemical-simulation software, to join an alliance working on antivirals. Schrödinger’s AI focuses on the physics of how proteins interact with small molecules and one another.

The software sifts through billions of molecules per week to predict a compound’s properties, and it optimizes for multiple desired properties simultaneously, says Karen Akinsanya, chief biomedical scientist and head of discovery R&D at Schrödinger. “There’s a huge sense of urgency here to come up with a potent molecule, but also to come up with molecules that are going to be well tolerated” by the body, she says. Drug developers are seeking compounds that can be broadly used and easily administered, such as an oral drug rather than an intravenous drug, she adds.

Schrödinger evaluated four protein targets and performed virtual screens for two of them, a computing-intensive process. In June, Google Cloud donated the equivalent of 16 million hours of Nvidia GPU time for the company’s calculations. Next, the alliance’s drug companies will synthesize and test the most promising compounds identified by the virtual screens.

Other companies, including Amazon Web Services, IBM, and Intel, as well as several U.S. national labs are also donating time and resources to the Covid-19 High Performance Computing Consortium. The consortium is supporting 87 projects, which now have access to 6.8 million CPU cores, 50,000 GPUs, and 600 petaflops of computational resources.

While advanced technologies could transform early drug discovery, any new drug candidate still has a long road after that. It must be tested in animals, manufactured in large batches for clinical trials, then tested in a series of trials that, for antivirals, lasts an average of seven years.

In May, the BioMed X Institute in Germany launched a five-year project to build a Rapid Antiviral Response Platform, which would speed drug discovery all the way through manufacturing for clinical trials. The €40 million ($47 million) project, backed by drug companies, will identify ­outside-the-box proposals from young scientists, then provide space and funding to develop their ideas.

“We’ll focus on technologies that allow us to go from identification of a new virus to 10,000 doses of a novel potential therapeutic ready for trials in less than six months,” says BioMed X’s Tidona, who leads the project.

While a vaccine will likely arrive long before a bespoke antiviral does, experts expect COVID-19 to be with us for a long time, so the effort to develop a direct-acting, potent antiviral continues. Plus, having new antivirals—and tools to rapidly create more—can only help us prepare for the next pandemic, whether it comes next month or in another 102 years.

“We’ve got to start thinking differently about how to be more responsive to these kinds of threats,” says Collins. “It’s pushing us out of our comfort zones.”

This article appears in the October 2020 print issue as “Automating Antivirals.” Continue reading

Posted in Human Robots

#437667 17 Teams to Take Part in DARPA’s ...

Among all of the other in-person events that have been totally wrecked by COVID-19 is the Cave Circuit of the DARPA Subterranean Challenge. DARPA has already hosted the in-person events for the Tunnel and Urban SubT circuits (see our previous coverage here), and the plan had always been for a trio of events representing three uniquely different underground environments in advance of the SubT Finals, which will somehow combine everything into one bonkers course.

While the SubT Urban Circuit event snuck in just under the lockdown wire in late February, DARPA made the difficult (but prudent) decision to cancel the in-person Cave Circuit event. What this means is that there will be no Systems Track Cave competition, which is a serious disappointment—we were very much looking forward to watching teams of robots navigating through an entirely unpredictable natural environment with a lot of verticality. Fortunately, DARPA is still running a Virtual Cave Circuit, and 17 teams will be taking part in this competition featuring a simulated cave environment that’s as dynamic and detailed as DARPA can make it.

From DARPA’s press releases:

DARPA’s Subterranean (SubT) Challenge will host its Cave Circuit Virtual Competition, which focuses on innovative solutions to map, navigate, and search complex, simulated cave environments November 17. Qualified teams have until Oct. 15 to develop and submit software-based solutions for the Cave Circuit via the SubT Virtual Portal, where their technologies will face unknown cave environments in the cloud-based SubT Simulator. Until then, teams can refine their roster of selected virtual robot models, choose sensor payloads, and continue to test autonomy approaches to maximize their score.

The Cave Circuit also introduces new simulation capabilities, including digital twins of Systems Competition robots to choose from, marsupial-style platforms combining air and ground robots, and breadcrumb nodes that can be dropped by robots to serve as communications relays. Each robot configuration has an associated cost, measured in SubT Credits – an in-simulation currency – based on performance characteristics such as speed, mobility, sensing, and battery life.

Each team’s simulated robots must navigate realistic caves, with features including natural terrain and dynamic rock falls, while they search for and locate various artifacts on the course within five meters of accuracy to score points during a 60-minute timed run. A correct report is worth one point. Each course contains 20 artifacts, which means each team has the potential for a maximum score of 20 points. Teams can leverage numerous practice worlds and even build their own worlds using the cave tiles found in the SubT Tech Repo to perfect their approach before they submit one official solution for scoring. The DARPA team will then evaluate the solution on a set of hidden competition scenarios.

Of the 17 qualified teams (you can see all of them here), there are a handful that we’ll quickly point out. Team BARCS, from Michigan Tech, was the winner of the SubT Virtual Urban Circuit, meaning that they may be the team to beat on Cave as well, although the course is likely to be unique enough that things will get interesting. Some Systems Track teams to watch include Coordinated Robotics, CTU-CRAS-NORLAB, MARBLE, NUS SEDS, and Robotika, and there are also a handful of brand new teams as well.

Now, just because there’s no dedicated Cave Circuit for the Systems Track teams, it doesn’t mean that there won’t be a Cave component (perhaps even a significant one) in the final event, which as far as we know is still scheduled to happen in fall of next year. We’ve heard that many of the Systems Track teams have been testing out their robots in caves anyway, and as the virtual event gets closer, we’ll be doing a sort of Virtual Systems Track series that highlights how different teams are doing mock Cave Circuits in caves they’ve found for themselves.

For more, we checked in with DARPA SubT program manager Dr. Timothy H. Chung.

IEEE Spectrum: Was it a difficult decision to cancel the Systems Track for Cave?

Tim Chung: The decision to go virtual only was heart wrenching, because I think DARPA’s role is to offer up opportunities that may be unimaginable for some of our competitors, like opening up a cave-type site for this competition. We crawled and climbed through a number of these sites, and I share the sense of disappointment that both our team and the competitors have that we won’t be able to share all the advances that have been made since the Urban Circuit. But what we’ve been able to do is pour a lot of our energy and the insights that we got from crawling around in those caves into what’s going to be a really great opportunity on the Virtual Competition side. And whether it’s a global pandemic, or just lack of access to physical sites like caves, virtual environments are an opportunity that we want to develop.

“The simulator offers us a chance to look at where things could be … it really allows for us to find where some of those limits are in the technology based only on our imagination.”
—Timothy H. Chung, DARPA

What kind of new features will be included in the Virtual Cave Circuit for this competition?

I’m really excited about these particular features because we’re seeing an opportunity for increased synergy between the physical and the virtual. The first I’d say is that we scanned some of the Systems Track robots using photogrammetry and combined that with some additional models that we got from the systems competitors themselves to turn their systems robots into virtual models. We often talk about the sim to real transfer and how successful we can get a simulation to transfer over to the physical world, but now we’ve taken something from the physical world and made it virtual. We’ve validated the controllers as well as the kinematics of the robots, we’ve iterated with the systems competitors themselves, and now we have these 13 robots (air and ground) in the SubT Tech Repo that now all virtual competitors can take advantage of.

We also have additional robot capability. Those comms bread crumbs are common among many of the competitors, so we’ve adopted that in the virtual world, and now you have comms relay nodes that are baked in to the SubT Simulator—you can have either six or twelve comms nodes that you can drop from a variety of our ground robot platforms. We have the marsupial deployment capability now, so now we have parent ground robots that can be mixed and matched with different child drones to become marsupial pairs.

And this is something I’ve been planning for for a while: we now have the ability to trigger things like rock falls. They still don’t quite look like Indiana Jones with the boulder coming down the corridor, but this comes really close. In addition to it just being an interesting and realistic consideration, we get to really dynamically test and stress the robots’ ability to navigate and recognize that something has changed in the environment and respond to it.

Image: DARPA

DARPA is still running a Virtual Cave Circuit, and 17 teams will be taking part in this competition featuring a simulated cave environment.

No simulation is perfect, so can you talk to us about what kinds of things aren’t being simulated right now? Where does the simulator not match up to reality?

I think that question is foundational to any conversation about simulation. I’ll give you a couple of examples:

We have the ability to represent wholesale damage to a robot, but it’s not at the actuator or component level. So there’s not a reliability model, although I think that would be really interesting to incorporate so that you could do assessments on things like mean time to failure. But if a robot falls off a ledge, it can be disabled by virtue of being too damaged to continue.

With communications, and this is one that’s near and dear not only to my heart but also to all of those that have lived through developing communication systems and robotic systems, we’ve gone through and conducted RF surveys of underground environments to get a better handle on what propagation effects are. There’s a lot of research that has gone into this, and trying to carry through some of that realism, we do have path loss models for RF communications baked into the SubT Simulator. For example, when you drop a bread crumb node, it’s using a path loss model so that it can represent the degradation of signal as you go farther into a cave. Now, we’re not modeling it at the Maxwell equations level, which I think would be awesome, but we’re not quite there yet.

We do have things like battery depletion, sensor degradation to the extent that simulators can degrade sensor inputs, and things like that. It’s just amazing how close we can get in some places, and how far away we still are in others, and I think showing where the limits are of how far you can get simulation is all part and parcel of why SubT Challenge wants to have both System and Virtual tracks. Simulation can be an accelerant, but it’s not going to be the panacea for development and innovation, and I think all the competitors are cognizant those limitations.

One of the most amazing things about the SubT Virtual Track is that all of the robots operate fully autonomously, without the human(s) in the loop that the System Track teams have when they compete. Why make the Virtual Track even more challenging in that way?

I think it’s one of the defining, delineating attributes of the Virtual Track. Our continued vision for the simulation side is that the simulator offers us a chance to look at where things could be, and allows for us to explore things like larger scales, or increased complexity, or types of environments that we can’t physically gain access to—it really allows for us to find where some of those limits are in the technology based only on our imagination, and this is one of the intrinsic values of simulation.

But I think finding a way to incorporate human input, or more generally human factors like teleoperation interfaces and the in-situ stress that you might not be able to recreate in the context of a virtual competition provided a good reason for us to delineate the two competitions, with the Virtual Competition really being about the role of fully autonomous or self-sufficient systems going off and doing their solution without human guidance, while also acknowledging that the real world has conditions that would not necessarily be represented by a fully simulated version. Having said that, I think cognitive engineering still has an incredibly important role to play in human robot interaction.

What do we have to look forward to during the Virtual Competition Showcase?

We have a number of additional features and capabilities that we’ve baked into the simulator that will allow for us to derive some additional insights into our competition runs. Those insights might involve things like the performance of one or more robots in a given scenario, or the impact of the environment on different types of robots, and what I can tease is that this will be an opportunity for us to showcase both the technology and also the excitement of the robots competing in the virtual environment. I’m trying not to give too many spoilers, but we’ll have an opportunity to really get into the details.

Check back as we get closer to the 17 November event for more on the DARPA SubT Challenge. Continue reading

Posted in Human Robots

#437635 Toyota Research Demonstrates ...

Over the last several years, Toyota has been putting more muscle into forward-looking robotics research than just about anyone. In addition to the Toyota Research Institute (TRI), there’s that massive 175-acre robot-powered city of the future that Toyota still plans to build next to Mount Fuji. Even Toyota itself acknowledges that it might be crazy, but that’s just how they roll—as TRI CEO Gill Pratt told me a while back, when Toyota decides to do something, they really do go all-in on it.

TRI has been focusing heavily on home robots, which is reflective of the long-term nature of what TRI is trying to do, because home robots are both the place where we’ll need robots the most at the same time as they’re the place where it’s going to be hardest to deploy them. The unpredictable nature of homes, and the fact that homes tend to have squishy fragile people in them, are robot-unfriendly characteristics, but as the population continues to age (an increasingly acute problem in Japan), homes offer an enormous amount of potential for helping us maintain our independence.

Today, Toyota is showing off some of the research that it’s been working on recently, in the form of a virtual reality presentation in lieu of an in-person press event. For journalists, TRI pre-loaded the recording onto a VR headset, which was FedEx’ed to my house. You can watch the entire 40-minute presentation in 360 video on YouTube (or in VR if you have a headset of your own), but if you don’t watch the whole thing, you should at least check out the full-on GLaDOS (with arms) that TRI thinks belongs in your home.

The presentation features an introduction from Gill Pratt, who looks entirely too comfortable embedded inside of one of TRI’s telepresence robots. The event also covers a lot of territory, but the highlight is almost certainly the new hardware that TRI demonstrates.

Soft bubble gripper

Photo: TRI

This is a “soft bubble gripper,” under development at TRI’s Cambridge, Mass., branch. These passively-compliant, air-filled grippers make it easier to grasp many different kinds of objects safely, but the nifty thing is that they’ve got cameras inside of them watching a pattern of dots on the interior of the soft membrane.

When the outside of the bubble makes contact with an object, the bubble deforms, and the deformation of the dot pattern on the inside can be tracked by the camera to determine both directions and magnitudes of forces. This is a concept that we’ve seen elsewhere before, but TRI’s implementation is a clever way of making an inherently safe end effector that can still perform all the sensing you need it to do for relatively complex manipulation tasks.

The bubble gripper was presented at ICRA this year, and you can read the technical paper here.

Ceiling-mounted home robot

Photo: TRI

I don’t know whether robots dangling from the ceiling was somehow sinister pre-Portal, but it sure as heck is for me having played through that game a couple of times, and it’s since been reinforced by AUTO from WALL-E.

The reason that we generally see robots mounted on the floor or on tables or on mobile bases is that we’re bipeds, not bats, and giving a robot access to a human-like workspace is easiest to do if you also give that robot a human-like position and orientation. And if you want to be able to reach stuff high up, you do what TRI did with their previous generation of kitchen manipulator, and just give it the ability to make itself super tall. But TRI is convinced it’s a good place to put our future home robots:

One innovative concept is a “gantry robot” that would descend from an overhead framework to perform tasks such as loading the dishwasher, wiping surfaces, and clearing clutter. By traveling on the ceiling, the robot avoids the problems of navigating household floor clutter and navigating cramped spaces. When not in use, the robot would tuck itself up out of the way. To further investigate this idea, the team has built a laboratory prototype robot that can do all the same tasks as a floor-based mobile robot but with the innovative overhead mobility system.

Another obvious problem with the gantry robot is that you have to install all kinds of stuff in your ceiling for this to work, which makes it very impractical (if not totally impossible) to introduce a system like this into a home that wasn’t built specifically for it. If, however, you do build a home with a robot like this in mind, the animation below from TRI shows how it could be extra useful. Suddenly, stairs are a non-issue. Payload is presumably also a non-issue, since loads can be transferred to the ceiling. Batteries become unnecessary, so the whole robot can be much lighter weight, which in turn makes it safer. Sensors get a fantastic view, and obstacle avoidance becomes trivial.

Robots as “time machines”

Photo: TRI

TRI’s presentation covered more than what we’ve highlighted here—our focus has been on the hardware prototypes, but TRI had more to talk about, including learning through demonstration, scaling learning through simulation, and how TRI has been working with users to figure out what research directions should be explored. It’s all available right now on YouTube, and it’s well worth 40 minutes of your time.

“What we’re really focused on is this principle idea of amplifying, rather than replacing, human beings”
—Gill Pratt, TRI

It’s only been five years since Toyota announced the $1 billion investment that established TRI, and it feels like the progress that’s been made since then has been substantial. It’s not often that vision, resources, and long-term commitment come together like this, and TRI’s emphasis on making life better for people is one of the things that helps to keep us optimistic about the future of robotics.

“What we’re really focused on is this principle idea of amplifying, rather than replacing, human beings,” Gill Pratt told us. “And what it means to amplify a person, particularly as they’re aging—what we’re really trying to do is build a time machine. This may sound fanciful, and of course we can’t build a real time machine, but maybe we can build robotic assistants to make our lives as we age seem as if we are actually using a time machine.” He explains that it doesn’t mean building robots for convenience or to do our jobs for us. “It means building technology that enables us to continue to live and to work and to relate to each other as if we were younger,” he says. “And that’s really what our main goal is.” Continue reading

Posted in Human Robots