from icub to R1 building your personal humanoid

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Godwin Greer
5 years ago
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1 from icub to R1 building your personal humanoid

2 Giorgio Metta Vice Scientific Director Istituto Italiano di Tecnologia Via Morego, , Genoa, ITALY

7 ageing in US

8 declining workforce

10 Innovation is the most important lever to overcome current and future challenges, such as aspects of demographic dynamics [excerpt] Roland Berger s trend compendium 2030

12 ICT R Vint Cerf, Vice President and Chief Internet evangelist for Google, in Future of AI Robotics and Jobs, a research document edited by PEW Research in 2014, answered to the question: AI and robotics will be integrated into nearly every aspect of most people s daily lives?, in this way: Self-driving cars seem very likely by Natural language processing will lead to conversational interactions with computer-based systems. Google search is likely to become a dialog rather than a client-server interaction. The Internet of Things will be well under way by this time and interaction with and among a wide range of appliances is predictable. Third party services to manage many of these devices will also be common. also: Elon Musk (Tesla) open AI foundation Google Deep Mind + robotics (see Boston Dynamics) Amazon e.g. Alexa project Toyota AI, robotics, cars Facebook machine learning, AI Softbank robotics not the traditional robotics industry Future of AI Robotics and Jobs: Aaron Smith, Janna Anderson (2014) Pew Research Center

13 what research speech please get me the omelet from the microwave interaction vision movement control could you please help me cut the filet? touch artificial intelligence

14 what robot platform?

15 icub2.5 icub3.0 R1

16 icub 53 degrees of freedom 29 kg parts assemblies

17 icub tech hands design started from the hands sensors humanoid electronics custom open platform GPL

18 our HQ

20 artificial intelligence tech

21 deep networks (GPU) large datasets from: A. Vedaldi from: Fei-Fei Li

22 capacitor touch conductive fabric mechanical properties, impedance soft material dielectric constant, mechanical properties electrodes shape, folding, etc.

23 hand s sensors 12 sensors each fingertips 44 sensors + 4 for temperature compensation three-axis accelerometer, ±2g, ±4g,±8g three-axis gyroscope (250/500/2000 dps) Jamali et al. IROS 2015

29 the (visual) world of icub objects: not many but large appearance variability (viewpoint, illumination) supervision: expensive and inaccurate learning: must be reliable, fast (online), incremental

30 verbal (weak) supervision sprinkler motion detection human teacher

31 a naïve approach

32 pre-training (weeks) our dataset FINE-TUNING (hours/days) train a new CLASSIFIER (<seconds) flower mug large-scale incremental Object Identification from Few Examples by Improving the Invariance of a Deep CNN, Pasquale et al. IROS 2016

33 the (more) serious approach serious 15 objects, images per object, 77-96% 50 objects, 10 images per object, 72-82% vs naïve 15 objects, images per object, 55-73% 50 objects, 10 images per object, 44-50%

36 our new bet R1

37 your personal humanoid

39 gradual market introduction

43 now 7 R1 6 icub3 5 icub2.5 4 icub2 3 ikart 2 icub /06 11/07 12/08 01/10 02/11 04/12 05/13 06/14 07/15 08/16 09/17

«How old are you?» she wanted to know. «Thirty-two,» I said. «Then you don t remember a world without robots. There was a time when humanity faced the universe alone and without a friend.

45 «How old are you?» she wanted to know. «Thirty-two,» I said. «Then you don t remember a world without robots. There was a time when humanity faced the universe alone and without a friend. Now he has creatures to help him; stronger creatures than himself, more faithful, more useful, and absolutely devoted to him. Mankind is no longer alone. Have you ever thought of it that way?»

completed projects external funding RobotCub, grant FP6-004370, http://www.robotcub.org CHRIS, grant FP7-215805, http://www.chrisfp7.

eu emorph, grant FP7-231467 http://www.emorph.eu Poeticon, grant FP7-215843 http://www.poeticon.eu Poeticon++, grant FP7-288382 http://www.poeticon.eu Xperience, grant FP7-270273 http://www.

48 completed projects external funding RobotCub, grant FP , CHRIS, grant FP , ITALK, grant FP , Robotdoc, grant FP7-ITN Roboskin, grant FP emorph, grant FP Poeticon, grant FP Poeticon++, grant FP Xperience, grant FP EFAA, grant FP Codyco, grant FP Tacman, grant FP Wysiwyd, grant FP Walk-man, grant FP new projects Koroibot, grant FP

from icub to R1 a project of robotics for AI

from icub to R1 a project of robotics for AI Giorgio Metta Vice Scientific Director Istituto Italiano di Tecnologia Via Morego, 30 16163, Genoa, ITALY giorgio.metta@iit.it IIT s scientific plan bioinspired