1. The Robot Revolution has been Postponed (until we can debug the sensors) Bill Smart Oregon State University bill.smart@oregonstate.edu

2. What’s Hard in Robotics?

3. Sense-Think-Act

4. Sense: Sensors

5. Sensors are... noisy wrong late

6. Sensors Measure the Wrong Thing hopefully its correlated with the right thing assumptions, assumptions, assumptions

7. The Sad Truth all sensors are terrible

8. Example Sensors LIDAR cameras kinect-like sensors

9. LIDAR

12. shoots laser light into the world measures return intensity what does it measure? noisy, wrong, and late

13. Cameras

14. detects light reflected from things in the world on an array of silicon what does it measure? noisy, wrong, and late

15. Cameras

17. Kinect-like Sensors

19. Stereo Vision

20. Kinect-like Sensors

21. [video]

22. Remember all sensors are terrible noisy, wrong, and late sensors don’t measure what you want

23. Think: Computation and AI

24. Think build a model of the world from your sensor data figure out what to do to get you to the state of the world you want implemented in software everything boils down to specific numbers

25. Interpreting Sensor Data

28. you have to write code input: (r, g, b) values for each pixel output: something you care about

29. A Simple Example turn on a light when someone is 1m from a LIDAR sensor

30. Another Example: Face Detection https://www.youtube.com/watch?v=aTErTqOIkss

31. Face Detection Viola-Jones algorithm Haar cascade https://www.youtube.com/watch?v=hPCTwxF0qf4

32. Set of Pixel Values that Often Correlate Well with the Presence of Faces in the Training Data that You Collected Detector Works great when it works Fails strangely when it fails https://cvdazzle.com/

33. Figuring Out What To Do map every state of the world to an action in software

34. A Simple Example stop the robot 1m from the wall LIDAR sensor

35. Sensor Filters stabilize the readings introduce lag and bias

36. Implementing it in Software you have to pin down everything specific numbers if then you can’t test it all

37. Act: Actuator Technology

38. Moving About

39. Picking things Up

40. What Else is Hard?

41. Interacting with humans subtle and quick to anger Power everything boils down to battery life A bunch of other technical stuff

42. How to Watch a Robot Video

43. Folding Towels https://www.youtube.com/watch?v=gy5g33S0Gzo

44. Crazy Quadcopters https://www.youtube.com/watch?v=XxFZ-VStApo

45. Final Thoughts a long way from the lab to the world easy for us usually means hard for robots the best way to understand modern robots is to use one and try to program it I understand law and policy less than you understand robots (so we should talk, over a beer)