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<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2>Hi Sarah,</FONT></SPAN></DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2></FONT></SPAN> </DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial><FONT
size=2><SPAN class=313153823-03062010>We</SPAN> can't <SPAN
class=313153823-03062010>fully </SPAN>answer most of your questions yet since we
are still in the process of collecting requirements for the lab. I would be
interested in knowing what answers to those questions you would like to see. We
want to get feedback from potential users of the lab <SPAN
class=313153823-03062010>as we design and built it</SPAN> since those users will
ultimately determine the success of this project.</FONT></FONT></SPAN></DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2></FONT></SPAN> </DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2>We have set aside a 12' x 24' area to build the lab. We will instrument
that area with several cameras and a motion capture system. We haven't worked
out specific requirements for bandwidth, latency, etc... We have started
extending the webui package <SPAN class=313153823-03062010>as a potential
user interface b</SPAN>ut that will take some time to complete. The initial
interface will consist of ssh and the standard ROS packages and will
requir<SPAN class=313153823-03062010>e endu users to be </SPAN>familiar
with those tools.</FONT></SPAN></DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2></FONT></SPAN> </DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2>The reporting function will be task specific and we haven't finalized
which task(s) we want to do first. I imagine we'll have a separate
program that runs alongside the algorithm being tested and evaluates its
performance. This module could report results through the webui, as log
files or as messages that can be recorded in a bag file.<SPAN
class=313153823-03062010> I would also like results to be posted publicly a la
Netflix Challenge.</SPAN> Additional information required for debugging a
specific algorithm would probably be best collected through log files or
filtered bag files. </FONT></SPAN></DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2></FONT></SPAN> </DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial size=2>I
hope this answers some of your questions. As I mentioned above we are very
interested in what requirements users of the remote lab would have. What types
of tasks are you considering for your learning from demonstration research? For
learning from demonstration would you require<SPAN class=313153823-03062010>
remote</SPAN> teleoperation of the robot<SPAN class=313153823-03062010>
base and arms</SPAN>? What additional hardware or softw<SPAN
class=313153823-03062010>a</SPAN>re requirements would be needed on the remote
user's end? </FONT></SPAN></DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2></FONT></SPAN> </DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2><SPAN class=313153823-03062010>Thanks,</SPAN></FONT></SPAN></DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2></FONT></SPAN> </DIV>
<DIV dir=ltr align=left><SPAN class=651151722-03062010><FONT face=Arial
size=2>Charles DuHadway</FONT></SPAN></DIV></DIV>
<DIV><SPAN class=313153823-03062010></SPAN><FONT face=Arial><FONT
size=2>Reseearch Engineer</FONT></FONT></DIV>
<DIV><SPAN class=313153823-03062010></SPAN><SPAN
class=313153823-03062010></SPAN><FONT face=Arial><FONT size=2>B<SPAN
class=313153823-03062010>osch Research and Technology
Center</SPAN></FONT></FONT><BR></DIV>
<DIV class=OutlookMessageHeader lang=en-us dir=ltr align=left>
<HR tabIndex=-1>
<FONT face=Tahoma size=2><B>From:</B> ros-users-bounces@code.ros.org
[mailto:ros-users-bounces@code.ros.org] <B>On Behalf Of </B>Sarah
Osentoski<BR><B>Sent:</B> Thursday, June 03, 2010 1:51 PM<BR><B>To:</B>
ros-users@code.ros.org<BR><B>Subject:</B> Re: [ros-users] PR2 Remote Laboratory
Experiments<BR></FONT><BR></DIV>
<DIV></DIV>
<DIV style="MARGIN: 0px"><FONT style="FONT: 12px Helvetica" face=Helvetica
size=3>Hi Adam,</FONT></DIV>
<DIV style="MIN-HEIGHT: 14px; MARGIN: 0px; FONT: 12px Helvetica"><BR></DIV>
<DIV style="MARGIN: 0px"><FONT style="FONT: 12px Helvetica" face=Helvetica
size=3>I know that the Brown group is very excited by this idea. A shared
test bed for domestic service tasks, like those you mentioned, would be an
excellent community resource. </FONT></DIV>
<DIV style="MARGIN: 0px"><BR></DIV>
<DIV style="MARGIN: 0px"><FONT style="FONT: 12px Helvetica" face=Helvetica
size=3>Our group is particularly interested in performing learning from
demonstration experiments in such environments. This would most likely
require a way for users to remotely and interactively demonstrate tasks
directly on the robot. </FONT></DIV>
<DIV style="MIN-HEIGHT: 14px; MARGIN: 0px; FONT: 12px Helvetica"><BR></DIV>
<DIV style="MARGIN: 0px"><FONT style="FONT: 12px Helvetica" face=Helvetica
size=3>We are also be interested in how reporting/output would be returned when
algorithms are tested. It seems like rosbags from the PR2 could get
prohibitively large, at least in the current form. Additionally, would the
results from tested algorithms on specified tasks be available to the
community?</FONT></DIV>
<DIV style="MARGIN: 0px"><FONT face=Arial color=#0000ff size=2></FONT><BR></DIV>
<DIV style="MIN-HEIGHT: 14px; MARGIN: 0px; FONT: 12px Helvetica">This could
potentially address many of the issues the community has faced in terms of
reproducibility. Could you provide more specifics about what Bosch is
planning in terms of space, bandwidth, the user interface, etc.?</DIV>
<DIV style="MIN-HEIGHT: 14px; MARGIN: 0px; FONT: 12px Helvetica"><FONT
face=Arial color=#0000ff size=2></FONT><BR></DIV>
<DIV style="MIN-HEIGHT: 14px; MARGIN: 0px; FONT: 12px Helvetica">Sarah
Osentoski</DIV>
<DIV>Postdoctoral Research Associate</DIV>
<DIV>Department of Computer Science, Brown University</DIV>
<DIV>
<DIV style="MARGIN: 0px"><A
href="http://www.cs.brown.edu/~sosentos/">http://www.cs.brown.edu/~sosentos/</A></DIV></DIV>
<DIV style="MIN-HEIGHT: 14px; MARGIN: 0px; FONT: 12px Helvetica"><FONT
face=Arial color=#0000ff size=2></FONT><BR></DIV>
<DIV style="MIN-HEIGHT: 14px; MARGIN: 0px; FONT: 12px Helvetica"><FONT
face=Arial color=#0000ff size=2></FONT><BR></DIV>
<DIV>
<DIV>On Jun 3, 2010, at 2:43 PM, FIXED-TERM Stambler Adam (CR/RTC1.1-NA)
wrote:</DIV><BR class=Apple-interchange-newline>
<BLOCKQUOTE type="cite"><FONT face="Times New Roman, serif" size=3>
<DIV>Hello All,</DIV>
<DIV><FONT face=Arial color=#0000ff size=2></FONT> </DIV>
<DIV style="TEXT-INDENT: 36pt">As a part of the PR2 Beta Program, Bosch
RTC is setting up a remote laboratory for our PR2. This lab will allow
us to share our PR2 with distant laboratories. This will be similar to
UWA’s Telelab; researchers will be able to log into the robot, upload
code, and perform experiments in a standardized environment in our lab.
Right now, we are in the planning stages for the laboratory and would like
some input from the community. If you don’t have a PR2, what type of
experiments would you like to run on a remote PR2? If you do have a PR2,
are there experiments where you would like to let other researchers test your
algorithm or try out an alternative algorithm in a standardized
environment? </DIV>
<DIV style="TEXT-INDENT: 36pt">Possible experiments might include opening and
navigation through a standard set of doors, cleaning up a table, and putting
away dishes into a dishwasher. </DIV>
<DIV style="TEXT-INDENT: 36pt"> </DIV>
<DIV style="TEXT-INDENT: 36pt">Any input would be extremely helpful as we plan
and build the infrastructure for the remote lab. </DIV>
<DIV> </DIV>
<DIV>Regards,</DIV>
<DIV style="PADDING-LEFT: 36pt">Adam Stambler</DIV>
<DIV style="PADDING-LEFT: 36pt">Robotics Intern Bosch RTC</DIV>
<DIV> </DIV>
<DIV><FONT face="Arial, sans-serif" size=2></FONT> </DIV></FONT>
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