Tag Archives: grasp
#437227 DIGIT: A high-resolution tactile sensor ...
To assist humans in completing manual chores or tasks, robots must efficiently grasp and manipulate objects in their surroundings. While in recent years robotics researchers have developed a growing number of techniques that allow robots to pick up and handle objects, most of these only proved to be effective when tackling very basic tasks, such as picking up an object or moving it from one place to another. Continue reading
Posted in Human Robots
#436484 If Machines Want to Make Art, Will ...
Assuming that the emergence of consciousness in artificial minds is possible, those minds will feel the urge to create art. But will we be able to understand it? To answer this question, we need to consider two subquestions: when does the machine become an author of an artwork? And how can we form an understanding of the art that it makes?
Empathy, we argue, is the force behind our capacity to understand works of art. Think of what happens when you are confronted with an artwork. We maintain that, to understand the piece, you use your own conscious experience to ask what could possibly motivate you to make such an artwork yourself—and then you use that first-person perspective to try to come to a plausible explanation that allows you to relate to the artwork. Your interpretation of the work will be personal and could differ significantly from the artist’s own reasons, but if we share sufficient experiences and cultural references, it might be a plausible one, even for the artist. This is why we can relate so differently to a work of art after learning that it is a forgery or imitation: the artist’s intent to deceive or imitate is very different from the attempt to express something original. Gathering contextual information before jumping to conclusions about other people’s actions—in art, as in life—can enable us to relate better to their intentions.
But the artist and you share something far more important than cultural references: you share a similar kind of body and, with it, a similar kind of embodied perspective. Our subjective human experience stems, among many other things, from being born and slowly educated within a society of fellow humans, from fighting the inevitability of our own death, from cherishing memories, from the lonely curiosity of our own mind, from the omnipresence of the needs and quirks of our biological body, and from the way it dictates the space- and time-scales we can grasp. All conscious machines will have embodied experiences of their own, but in bodies that will be entirely alien to us.
We are able to empathize with nonhuman characters or intelligent machines in human-made fiction because they have been conceived by other human beings from the only subjective perspective accessible to us: “What would it be like for a human to behave as x?” In order to understand machinic art as such—and assuming that we stand a chance of even recognizing it in the first place—we would need a way to conceive a first-person experience of what it is like to be that machine. That is something we cannot do even for beings that are much closer to us. It might very well happen that we understand some actions or artifacts created by machines of their own volition as art, but in doing so we will inevitably anthropomorphize the machine’s intentions. Art made by a machine can be meaningfully interpreted in a way that is plausible only from the perspective of that machine, and any coherent anthropomorphized interpretation will be implausibly alien from the machine perspective. As such, it will be a misinterpretation of the artwork.
But what if we grant the machine privileged access to our ways of reasoning, to the peculiarities of our perception apparatus, to endless examples of human culture? Wouldn’t that enable the machine to make art that a human could understand? Our answer is yes, but this would also make the artworks human—not authentically machinic. All examples so far of “art made by machines” are actually just straightforward examples of human art made with computers, with the artists being the computer programmers. It might seem like a strange claim: how can the programmers be the authors of the artwork if, most of the time, they can’t control—or even anticipate—the actual materializations of the artwork? It turns out that this is a long-standing artistic practice.
Suppose that your local orchestra is playing Beethoven’s Symphony No 7 (1812). Even though Beethoven will not be directly responsible for any of the sounds produced there, you would still say that you are listening to Beethoven. Your experience might depend considerably on the interpretation of the performers, the acoustics of the room, the behavior of fellow audience members or your state of mind. Those and other aspects are the result of choices made by specific individuals or of accidents happening to them. But the author of the music? Ludwig van Beethoven. Let’s say that, as a somewhat odd choice for the program, John Cage’s Imaginary Landscape No 4 (March No 2) (1951) is also played, with 24 performers controlling 12 radios according to a musical score. In this case, the responsibility for the sounds being heard should be attributed to unsuspecting radio hosts, or even to electromagnetic fields. Yet, the shaping of sounds over time—the composition—should be credited to Cage. Each performance of this piece will vary immensely in its sonic materialization, but it will always be a performance of Imaginary Landscape No 4.
Why should we change these principles when artists use computers if, in these respects at least, computer art does not bring anything new to the table? The (human) artists might not be in direct control of the final materializations, or even be able to predict them but, despite that, they are the authors of the work. Various materializations of the same idea—in this case formalized as an algorithm—are instantiations of the same work manifesting different contextual conditions. In fact, a common use of computation in the arts is the production of variations of a process, and artists make extensive use of systems that are sensitive to initial conditions, external inputs, or pseudo-randomness to deliberately avoid repetition of outputs. Having a computer executing a procedure to build an artwork, even if using pseudo-random processes or machine-learning algorithms, is no different than throwing dice to arrange a piece of music, or to pursuing innumerable variations of the same formula. After all, the idea of machines that make art has an artistic tradition that long predates the current trend of artworks made by artificial intelligence.
Machinic art is a term that we believe should be reserved for art made by an artificial mind’s own volition, not for that based on (or directed towards) an anthropocentric view of art. From a human point of view, machinic artworks will still be procedural, algorithmic, and computational. They will be generative, because they will be autonomous from a human artist. And they might be interactive, with humans or other systems. But they will not be the result of a human deferring decisions to a machine, because the first of those—the decision to make art—needs to be the result of a machine’s volition, intentions, and decisions. Only then will we no longer have human art made with computers, but proper machinic art.
The problem is not whether machines will or will not develop a sense of self that leads to an eagerness to create art. The problem is that if—or when—they do, they will have such a different Umwelt that we will be completely unable to relate to it from our own subjective, embodied perspective. Machinic art will always lie beyond our ability to understand it because the boundaries of our comprehension—in art, as in life—are those of the human experience.
This article was originally published at Aeon and has been republished under Creative Commons.
Image Credit: Rene Böhmer / Unsplash Continue reading
Posted in Human Robots
#436414 Japanese Researchers Teaching Robots to ...
When mobile manipulators eventually make it into our homes, self-repair is going to be a very important function. Hopefully, these robots will be durable enough that they won’t need to be repaired very often, but from time to time they’ll almost certainly need minor maintenance. At Humanoids 2019 in Toronto, researchers from the University of Tokyo showed how they taught a PR2 to perform simple repairs on itself by tightening its own screws. And using that skill, the robot was also able to augment itself, adding accessories like hooks to help it carry more stuff. Clever robot!
To keep things simple, the researchers provided the robot with CAD data that tells it exactly where all of its screws are.
At the moment, the robot can’t directly detect on its own whether a particular screw needs tightening, although it can tell if its physical pose doesn’t match its digital model, which suggests that something has gone wonky. It can also check its screws autonomously from time to time, or rely on a human physically pointing out that it has a screw loose, using the human’s finger location to identify which screw it is. Another challenge is that most robots, like most humans, are limited in the areas on themselves that they can comfortably reach. So to tighten up everything, they might have to find themselves a robot friend to help, just like humans help each other put on sunblock.
The actual tightening is either super easy or quite complicated, depending on the location and orientation of the screw. If the robot is lucky, it can just use its continuous wrist rotation for tightening, but if a screw is located in a tight position that requires an Allen wrench, the robot has to regrasp the tool over and over as it incrementally tightens the screw.
Image: University of Tokyo
In one experiment, the researchers taught a PR2 robot to attach a hook to one of its shoulders. The robot uses one hand to grasp the hook and another hand to grasp a screwdriver. The researchers tested the hook by hanging a tote bag on it.
The other neat trick that a robot can do once it can tighten screws on its own body is to add new bits of hardware to itself. PR2 was thoughtfully designed with mounting points on its shoulders (or maybe technically its neck) and head, and it turns out that it can reach these points with its manipulators, allowing to modify itself, as the researchers explain:
When PR2 wants to have a lot of things, the only two hands are not enough to realize that. So we let PR2 to use a bag the same as we put it on our shoulder. PR2 started attaching the hook whose pose is calculated with self CAD data with a driver on his shoulder in order to put a bag on his shoulder. PR2 finished attaching the hook, and the people put a lot of cans in a tote bag and put it on PR2’s shoulder.
“Self-Repair and Self-Extension by Tightening Screws based on Precise Calculation of Screw Pose of Self-Body with CAD Data and Graph Search with Regrasping a Driver,” by Takayuki Murooka, Kei Okada, and Masayuki Inaba from the University of Tokyo, was presented at Humanoids 2019 in Toronto, Canada. Continue reading
Posted in Human Robots