[ros-users] PR2 Remote Laboratory Experiments
DuHadway Charles (CR/RTC1.1-NA)
Charles.DuHadway at us.bosch.com
Thu Jun 3 23:45:52 UTC 2010
Hi Sarah,
We can't fully 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 as we design and built it since those users will ultimately determine the success of this project.
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 as a potential user interface but that will take some time to complete. The initial interface will consist of ssh and the standard ROS packages and will require endu users to be familiar with those tools.
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. I would also like results to be posted publicly a la Netflix Challenge. Additional information required for debugging a specific algorithm would probably be best collected through log files or filtered bag files.
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 remote teleoperation of the robot base and arms? What additional hardware or software requirements would be needed on the remote user's end?
Thanks,
Charles DuHadway
Reseearch Engineer
Bosch Research and Technology Center
________________________________
From: ros-users-bounces at code.ros.org [mailto:ros-users-bounces at code.ros.org] On Behalf Of Sarah Osentoski
Sent: Thursday, June 03, 2010 1:51 PM
To: ros-users at code.ros.org
Subject: Re: [ros-users] PR2 Remote Laboratory Experiments
Hi Adam,
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.
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.
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?
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.?
Sarah Osentoski
Postdoctoral Research Associate
Department of Computer Science, Brown University
http://www.cs.brown.edu/~sosentos/
On Jun 3, 2010, at 2:43 PM, FIXED-TERM Stambler Adam (CR/RTC1.1-NA) wrote:
Hello All,
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?
Possible experiments might include opening and navigation through a standard set of doors, cleaning up a table, and putting away dishes into a dishwasher.
Any input would be extremely helpful as we plan and build the infrastructure for the remote lab.
Regards,
Adam Stambler
Robotics Intern Bosch RTC
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