The Library of Dresan – Page 23 – Words, Art & Science by Anthony Francis

[thirty] minus twenty: why i wouldn’t work for elon musk at twitter

Published February 19, 2023 by centaur

Because he took Twitter private. Look, I'm not against private companies per se: I'm part of one (Thinking Ink Press) and have started another (Logical Robotics). And I'm not against Elon Musk per se either: I have some criticisms of how he's running Twitter, but those criticisms are not material to my point, and, hey, he has made me a great deal of money over the years as a Tesla and Twitter shareholder, so, perhaps he knows what he's doing in this case (though, based on how it's going, I seriously doubt it.)

No, my issue is, it's not a public company anymore. I strongly believe most large companies should be public, and that I would not work for a large private corporation if I could possibly help it. Private corporations exist to serve their shareholders; public corporations exist to serve the public. We structure them for the benefit of shareholders to encourage people to create companies and improve the economy, but going public places the company under increased oversight to ensure it is serving the public interest.

Public corporations place structure between the shareholders and the business: shareholders elect a board, which selects a CEO, who selects the employees of the company and directs its business. So at a public corporation, both the lowliest employee and the CEO work for the company, not the shareholders.

This insulation creates a great equalizer. In the end, everyone at the company, from the CEO to the mail room temp, are all responsible for serving the company. At a public company, you don't work for your manager; you both work for the company, and you both should act in its best interests.

At a private company, this is no longer the case. And at Twitter, this is definitely no longer the case. Elon Musk is removing security features and artificially boosting his own engagement and firing anyone who contradicts him, much less disagrees with him, which is a big problem since he doesn't realize he's incompetent at running software companies (this kind of nonsense is what got him fired from the company that became PayPal, after all) and he's desperate to cut costs and boost revenues before the debt payments eat them alive.

At a healthy company - a public company - you have the moral right to say, "No, sir, that doesn't work that way," or "No, ma'am, I won't do that; that's harmful to the company." Admittedly, this can get you fired, but you still have the moral right to do it.

At Twitter, however, it's Elon's show. And he has the right to run it the way that he wants - he certainly paid enough for it. So, if I worked at Twitter ... I think I would have to have taken the severance, if offered, because while I will work for a public company, I won't work in a feudal kingdom.

The King can boost his own tweets.

-the Centaur

Pictured: More graffiti, from an undisclosed location.

[twenty-nine] minus twenty-one: what’s up with these titles?

Published February 19, 2023 by centaur

In case it isn't clear, when I took on the Blogging Every Day project, I hoped to get at least one post a day for the full year. Today, the 19th of February, is allegedly the 50th day of the year (according to On This Day in Math, this is the smallest number that can be written as the sum of two squares in two different ways, 1+49 and 25+25 ... who knew? Pat Ballew, apparently). But by my count this is only the twenty-ninth blogpost in this series (not counting blog posts done for other reasons), so it's twenty nine, minus twenty-one behind what the goal should be for the day. And I need to be doing at least two of these a day to get back on track.

Just so we're clear.

-the Centaur

Pictured: What was behind my head when I was taking that picture of King's Fish House.

[twenty-eight] minus twenty: re-ju-ven-ate!

Published February 19, 2023 by centaur

Oh, look, it's a Dalek acting as a security guard! Nothing can go wrong with this trend. :-/

Though, as a roboticist seeing this gap between terminals, I can't help but wonder whether it just undocked from its charger, whether it is about to dock with its charger, whether it needs help from a human to dock with its charger, or whether it has failed to dock with its charger and is about to run out of power in the dark and the cold where all the wolves are.

-the Centaur

[twenty-seven] minus twenty-one: this is a good restaurant

Published February 19, 2023 by centaur

King's Fish House is a good restaurant. This one is in Santana Row, but I first fell in love with it in San Diego.

Good food is to be had here.

Good drinks too.

That is all.

-the Centaur

[twenty-six] minus twenty-two: found it

Published February 19, 2023 by centaur

In the "beyond the last place you'd look for it" department, I found my wife's laptop. It disappeared during her last trip to renovate the old house, and she could not find it, any place she looked. I couldn't find it either, until we had to re-do the floors and I had to move everything out of all the side rooms. Before I put everything back, I staged it into another room and started methodically going through every box. No dice. But then, while moving some of the spare suitcases we'd left here, I noticed one of them was strangely heavy. Huh. What's this I feel in here? Could it be ... a laptop?

So it turns out my wife apparently had used the above small suitcase to transport her laptop and all of its accoutrements (charger, case, etc) but ... perhaps forgot that's where she put it, in all the chaos of moving things from room A to B to paint stuff, only to move it from B to C to fix things, then from C back to A again. Regardless, it was in the wrong room, with the empty suitcases, so it doesn't surprise me that it was hard to find. But I found it ... by methodically searching every place, whether it made sense or not.

Blogging every day.

-the Centaur

Ah, Red Rock …

Published February 18, 2023 by taidoka

... I miss the glory days when you were open until 10 (and Bookbuyers was open to midnight, just up the street) but you're still a great place to grab a mocha, get together with techy friends, and work on a project.

What's amazing about the Bay Area is how much technology is just milling around in the ether. I practically tripped on a robot on the way to the meeting, some people at a nearby table were talking about self-driving cars, day before yesterday the people next to me were talking about robots, reinforcement learning and my colleagues, and I ran into three techy friends, one of whom introduced me to some more robot folk.

What a place to be, and what a time to be alive.

Blogging every day.

-the Centaur

[twenty-five] minus twenty-two

Published February 17, 2023 by centaur

Did you know Bernard Cribbins, who played the Doctor Who companion Wilfred Mott in David Tennant's run ALSO played companion Tom Campbell in the Peter Cushing "Dr. Who" movie Dalek's Invasion Earth 2150 A.D.?

Me neither. But apparently David Tennant did, as you can see him here checking up on his old companion (or, technically, his alter ego's companion) as they faced the Daleks ...

Ain't Photoshop grand?

-the Centaur

P.S. Typing the title "Daleks' Invasion Earth 2150 A.D." hurts me. It's grammatically correct, but hanging onto that by its fingernails and is SO clunky. "Dalek Invasion of Earth: 2150", please, or just the original "The Dalek Invasion of Earth" from the TV show.

[twenty-four] minus twenty-one: renovations in progress

Published February 15, 2023 by centaur

Busy working on a revision of a paper for the HRI Workshop in Academia and Industry, so enjoy this picture of our renovations instead. My other task for the day was working on our house out here in California, which we have to fix up if we wish to sell, rent, or even just really live in it. Not much going on in this picture, but earlier today I was crawling all over the floors with waterborne Color Putty, filling gaps in the slightly dodgy wood flooring. The installers left some, um, pretty substantial gaps ...

... but were nice enough to come back for free and spend several hours fixing most of it, leaving me with jars of the product to fill in any gaps we found later. As they explained, the gaps we were seeing were natural to this product and we can only see down to the tongues of the material, but, still, there's a pretty marked difference between the gaps we see on this new flooring and the tightly joined hardwood floors in our new house, or even the damn near hermetic pergo floors in the rest of the original California house, and we don't think "Oh, just don't ever spill anything, ever" is a reasonable answer. So I'm going to go over them carefully before putting our boxed belongings back into the rooms ... one crack at a time.

Oh, joy. Don't get me started on the work I had to do to try to rescue the path beside the house, which nature firmly decided it wants to reclaim ...

-the Centaur

P. S. I promise all this work is necessary, and is not elaborate avoidance behavior of the manuscript, as my subconscious hunts for other things to work on in an attempt to hide my writer's block from myself.

[twenty-three] minus twenty-one

Published February 14, 2023 by centaur

Restarting the numbering a little bit so we're capturing 'blog per day' (day of year: 44 - blog series: 23 = 21 behind). Up late doing various stuff, so here's a neat shot from a parking garage in downtown Berkeley, after I did my traditional artist date "visit a couple of cool bookstores, get some nice food, find a coffeehouse to work on my book." The road in question is just chock full of theaters and other artistic venues, so there's often quite the interesting crowd milling about when I'm heading from the garage to grab some food.

-the Centaur

It’s my birthday and I’ll read if I want to …

Published February 11, 2023 by centaur

SO! I just turned *AHEM* a year older and decided to go to my favorite restaurant, Nola, in Palo Alto. Nola and I go way back - logically speaking, I must have first gone there in something like summer of 1997, near the end of my internship at SRI (formerly, the Stanford Research Institute) on hierarchical planning. Nola was the first place I ever got "drunk", or more honestly, slightly buzzed from a very powerful margarita, the first on-the-rocks margarita I had ever had. I had even ordered it by accident; normally, at the time, I was drinking the equivalent of watered-down alcohol slushies, and ordered on-the-rocks on accident. My tastes in drink have ... considerably evolved ... since then, though I still stick to the one-drink-per-day limit.

Nola's a truly magical place. I'd put it in a novel ... if I hadn't already. (LIQUID FIRE, as the vampire-friendly restaurant our heroes retreat to after a nasty dustup with some evil firespinners). Look at their decorations for Mardi Gras! Beautiful.

Welp! One more spin around the sun. Plan to keep doing those as long as I am able ...

-the Centaur

[twenty-two] minus seventeen …

Published February 11, 2023 by centaur

Another neat little place in downtown Palo Alto. It's amazing how special a place downtown Palo Alto is; for being a part of a vast megalopolis, it's a charming downtown with a small-town feel and a surprisingly connected place. I ran into at least six people I knew in the short time I was down there tonight, and got an introduction to a robotics group at MIT just by sitting in a chair and talking to some friends.

This is kind of the experience I had when I first came out to the Bay as an intern, 25 years ago (more or less); I had just arrived, was hungry, but restaurants were busy, so I took a seat at a restaurant bar, the only space available ... but no sooner had I sat down than I got offered a job.

Well, technically, I sat down and cracked open a very technical book, and the person sitting next to me didn't offer me a job, but did give me their card and let me know their startup was hiring.

But you get the picture ...

-the Centaur

[twenty-one] minus eighteen

Published February 10, 2023 by centaur

A colorful auto-generated effect from Google Photos showing the profusion of succulents in our xeriscaped yard. They've really taken off in the past couple of years, and are quite beautiful even when not blooming.

Blogging every day (ish).

-the Centaur

Announcing Logical Robotics

Published February 10, 2023 by centaur

So, I'm proud to announce my next venture: Logical Robotics, a robot intelligence firm focused on making learning robots work better for people. My research agenda is to combine the latest advances of deep learning with the rich history of classical artificial intelligence, using human-robot interaction research and my years of experience working on products and benchmarking to help robots make a positive impact.

Recent advances in large language model planning, combined with deep learning of robotic skills, have enabled almost magical developments in explainable artificial intelligence, where it is now possible to ask robots to do things in plain language and for the robots to write their own programs to accomplish those goals, building on deep learned skills but reporting results back in plain language. But applying these technologies to real problems will require a deep understanding of both robot performance benchmarks to refine those skills and human psychological studies to evaluate how these systems benefit human users, particularly in the areas of social robotics where robots work in crowds of people.

Logical Robotics will begin accepting new clients in May, after my obligations to my previous employer have come to a close (and I have taken a break after 17 years of work at the Search Engine That Starts With a G). In the meantime, I am available to answer general questions about what we'll be doing; if you're interested, please feel free to drop me a line at via centaur at logicalrobotics.com or take a look at our website.

-the Centaur

Ripping Off the Bandaid

Published February 10, 2023 by centaur

After almost seventeen years at Google, I've made the difficult decision to get laid off with no warning. :-) Working with Google was an amazing experience, from search to robotics to 3D objects and back to robotics again. We did amazing things and I am proud of all my great colleagues and what we accomplished together.

However, my work in robotics is not done, and I will still be pushing for better robot navigation, large language model planning, and especially social robot navigation and embodied AI. I'm spinning up an independent consulting business and will announce more details on this as it evolves - feel free to reach out directly though!

-the Centaur

P.S. Sorry for the delay - this has been up on my Linkedin forever. But for some reason I just wasn't ready to post this here. Avoidance behavior, however, has gone on long enough. Time to move on.

Pictured: me and Ryan at Sports Page, the traditional hangout you go to on your last day at Google. It was a blast seeing all the friends, thank you for coming!

[twenty] plus eighteen: time to rip off the bandaid

Published February 10, 2023 by centaur

Image apropos of nothing. Nevertheless, avoidance behavior has gone on long enough ... soon it comes ...

-the Centaur

Pictured: Another shot of the real place in Palo Alto which must have subconsciously inspired the Librarian's Favorite Ramen noodle shop, from an unpublished story.

[nineteen] plus nineteen

Published February 10, 2023 by centaur

This is a place, a very real place in Palo Alto, but in an even more important sense, this is an unreal place, the location of a very special ramen noodle shop that exists only in my mind. The strange thing about this real place is that I don't think the fictional place (from an as-yet unpublished story) is consciously derived from it; yet the ramen shop (fictionally located in the dark glass arch) fits so precisely between the stairs upwards on the right (fictionally, to the upper terrace, only opened for special parties) and the tunnel to the left (fictionally, leading off to the chef's domicile) that I can only imagine this real place, which I have walked past so many times, must have burrowed its way into my subconscious and provided me with the layout I needed for the ramen shop when I needed it.

I've seen this before in stories where an image I encountered years earlier subconsciously wormed its way into a story - most notably, when names and resonances of Wargames and The Bionic Woman wormed their way into my first published story, "Sibling Rivalry", without me realizing it until much later.

Funny how the mind works ...

-the Centaur

[eighteen] plus nineteen

Published February 9, 2023 by centaur

Very tired and sleepy, so you get graffiti ... good night.

-the Centaur

phewww ….

Published February 8, 2023 by centaur

... finally, a chance to catch a break.

It's been a difficult few weeks due to "the Kerfluffle" which I hope to blog about shortly (those on my LinkedIn have seen it already) but equally as much from a Stanford extension class I was taking on Deep Reinforcement Learning (XCS234 - speaking as an expert in this area seeking to keep my skills sharp, I can highly recommend it: I definitely learned some things, and according to the graphs, so did my programs).

Finally, that's over, and I have a moment to breathe.

And maybe start blogging again.

-the Centaur

Pictured: A mocha from Red Rock Cafe, excellent as always, and a learning curve from one of my programs from class (details suppressed since we're not supposed to share the assignments).

[seventeen] plus fifteen …

Published February 3, 2023 by taidoka

Up super late working on stuff, so you get this enigmatic graffiti instead of a blogpost ...

-the Centaur

[sixteen] plus fifteen

Published February 1, 2023 by centaur

Been up super late chasing a paper deadline for the past few nights, so no real post for you; instead, enjoy this picture of a photogenic cat.

I do have to say, these past few nights pulling this paper together have proved over and over again that my ethic of "work just a little harder than you have to" pays off, as each night I wanted to quit, and each night I got a major chunk of forward progress done by working just a bit harder.

Now, sometimes that was 4 am, but still ... after spending a great deal of time with what felt like a giant incoherent mess of a paper (17 pages at last count), the exercise of pushing to submit a 6-page excerpt to this conference really crystallized the notion that, yes, we have done something good here, and, yes, if we take the time out to summarize it, it really does add something to our understanding of the problem.

Oh wait. This isn't an inside-the-firewall production. So, AHEM, "... it really does add something to our understanding of SOCIAL ROBOT NAVIGATION." Just to be clear on what we are doing.

-the Centaur

Pictured: Loki, snapped between toe cleanings.