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James Kuffner Google Research & The Robotics Institute Carnegie Mellon University Digital Human Research Center (AIST) 1 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011

  1. James Kuffner Google Research & The Robotics Institute Carnegie Mellon University Digital Human Research Center (AIST) 1 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  2. • Stanford University 1995-1999 • University of Tokyo JSK Lab 1999-2001 • Carnegie Mellon University H5 H6 H7 Asimo HRP2 HRP3 The Robotics Institute 2001- present • Digital Human Research Center (AIST) 2001- present 2 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  3. 3 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  4. q new q target “RRT-Connect” [ Kuffner, LaValle ICRA ‘00] q goal q near q init 4 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  5. 5 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  6. CMU PhD thesis: Rosen Diankov 6 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  7. 7 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  8. Automatic Regrasping (2006) [ Berenson, Diankov, Nishiwaki, Kagami, Kuffner ] Humanoids2007 8 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  9. http://openrave.programmingvision.com/ - OR - http://www.sourceforge.net/ keyword: “openrave” James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  10. • Modeling Object Pose Error CMU PhD thesis: Rosen Diankov 10 10 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  11. CMU PhD thesis: Rosen Diankov 11 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  12. CMU PhD thesis: Rosen Diankov 12 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  13. 13 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  14. 14 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  15. [ Berenson, Chestnutt, Srinivasa, Kagami, Kuffner , Humanoids2009 ] 15 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  16. ? James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  17. Larry Page James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  18. James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  19. • Documents “live” in the cloud (backed up and accessible anywhere) • Netbook • Supercomputing: ( Heavy CPU or data-intensive processing handled by distributed network) James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  20. • Physical separation of Hardware (motors & sensors) and Software (high-level processes) JSK (U.Tokyo) mini-Humanoids (1990s) James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  21. • Human acts as the “remote-brain” • Not suitable for all tasks • Issues: – Latency – Data Bandwidth NAIST-Hand I James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  22. HRP3 (AIST/Kawada) Google DataCenter • “DAvinCi: A cloud computing framework for service robots” [ Arumugam, et. Al. , ICRA 2010 ] • RoboEarth • Cloud Robotics at Google I/O (May 2011) James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  23. • Wireless networking: – Fast – Reliable – Ubiquitous – Sufficient bandwidth (e.g: Mobile Broadband 64 kbps to 150 Mbps in 10 years = 2400x) James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  24. • Provides a shared knowledge database – Organizes and unifies information about the world in a format usable by robots • Offloads heavy computing tasks to the cloud – Cheaper, lighter, easier-to-maintain hardware (akin to desktop PC vs. a thin-client “netbook”) – Longer battery life – Less need for software pushes/updates – CPU hardware upgrades are invisible & hassle-free • Skill / Behavior Database – reusable library of “skills” or behaviors that map to perceived task requirements / complex situations. – Data-mining the history of all cloud-enabled robots James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  25. • Cloud-enabled Object Recognition – e.g. “Google Goggles” James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  26. • Upload image(s) ! Download Semantics – Object name – 3D model, mass, materials, friction properties – Usage instructions (function, how to grasp, operate) – Context / Domain knowledge ARMAR III (KIT) James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  27. • Recognition • Translation • Synthesis Alex Waibel’s group (CMU & KIT) Conversation Mode on Android James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  28. • Statistical Machine Translation James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  29. • Shared, highly- detailed maps of the world stored in the cloud • Updates/ changes can be published and immediately used James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  30. • Navigation • Difficult task or motion planning problems solved in the cloud (e.g “God’s Number”) - 43,252,003,274,489,856,000 positions - 35 CPU-years used James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  31. • An “App Store” for robots • Task ! Objects/Domain Info ! Usage Instructions ! Behaviors/Motor Skills “Contact Ryan” James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  32. James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  33. • AppInventor interface for Android phones and tablets • http://www.cellbots.com/ • http://www.cloudrobotics.com/ • ADK (Acessory Development Kit) for Android James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  34. http://code.google.com/p/rosjava/ 34 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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