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.
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!
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.
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).
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.
... a computer with a fast fricking hard drive. I use a backup scheme in which one older computer has all my file mirroring services on it (Dropbox, Google Drive, etc) and then backs that data up to a local Time Machine backup. But the old iMac I had had long ago reached the point where it couldn't back up to local network storage and needed a directly connected USB drive, and eventually that, too, gave up the ghost, with Google Drive and Dropbox essentially strangling each other to death if you tried to load them simultaneously. In other news, unrelated except for the inexorable passage of time, my personal daily driver laptop had reached the point where half the keys skip and the battery life was down to roughly 1 minute.
SO! I bought a refurbished Apple Silicon MacBook Pro. Even though it is a gently used machine, way cheaper than the most recent models, this M1 Max screamer has downloaded most of Dropbox and a large chunk of Drive without breaking a sweat. Apparently, the larger, faster SSD of a 2022 MacBook Pro beats the heck out of the old spinny hard drive of a 2015 (or is it 2013?) iMac. Who knew? And it can serve as a daily driver until such time as I can afford a top of the line machine, if I even need one if Apple Silicon is as fast as they say.
... still behind, but, whatever. Pictured: Left Bank in Menlo Park. Hadn't been there in years, but it was wonderful. Unexpectedly I turned out the other way from the bathroom and discovered a second stair with beautiful mosaic tile, sparkling in the late morning daylight in a way I never recalled seeing before.
Still pictures really can't do it justice, but it still is beautiful.
One reason blogging suffers for me is that I always prioritize doing over blogging. That sounds cool and all, but it's actually just another excuse. There's always something more important than doing your laundry ... until you run out of underwear. Blogging has no such hard failure mode, so it's even easier to fall out of the habit. But the reality is, just like laundry, if you set aside a little time for it, you can stay ahead - and you'll feel much healthier and more comfortable if you do.
Yeah. The microblogging will continue until the posting rate reaches 1/day.
I feel that one problem I have with "daily blogging" is that quick posts are no problem. But if I have a longer idea - but can't finish it in time - I then forget to do a shorter post to make up for it.
And missing a post itself is a problem. What I find when trying to build a regular practice (daily blogging, taking karate twice a week, whatever) is that if you skip one time, even for a "really good reason", then mysteriously the next two or three times you'll HAVE to skip for "unavoidable" reasons.
In this, case in point, I started writing a longer article on debugging software. There was more to it than I expected - I had wanted to make an off-the-cuff comment, and found my thoughts rapidly expanding - and then the next day I was flying, and the next day catching up on work, and the next day owed my part of the annual report to the church board, and so on. And then its DAYS later and boom no posts. I think at this point I am 8 behind in numbered posts, though there were a few un-numbered ones which I would count, except, if I don't, it makes the problem harder, which helps build the discipline I'm trying to build.
SO! Let's get back on that horse then. Update metadata, hit publish.
-the Centaur
Pictured: my evening work ritual, 2-3 times a week when I'm not having dinner with my wife, is to go to some place to eat (preferably one with a bar or high top tables, so I can stretch out my bum knee), crack open a book, and read a chunk of a chapter while having a nice meal. Most of my books get read this way.
... the block editor of Wordpress seems to be making my old non-block-editor posts turn into solid walls of text. See the post "Pascal's Wager and Purchasing Parsley":
Yeah, it's not supposed to be looking like that. Gotta track those down and fix them.
In other news, my Half-Cheetah policy is successfully training to "expected" levels of performance. Yay! I guess that means my code for the assignment is ... sorta correct? Time to clean it up and submit it.
A brainflash by my wife, turned into an out-of-nowhere concoction. Breakfast-burrito sized spring rolls, filled with almost entirely raw veggies, backed up by an amazing mix-and-match sauce, all entirely vegan.
Eight pieces of sushi from P. F. Chang's. Sadly, even their "vegetarian" options have added fish flakes, making them not vegetarian, much less vegan - so me and my vegan wife no longer eat together there. Sad, because it was one of our favorite date night places until they updated their menu and she re-asked about whether her favorite dish was still vegan - only to find out that it had never been. :-(
SO part of the reason we moved from California (other than the fires and the burning and the lack of water falling from the sky and all that stuff) to South Carolina was to reduce friction. Since here we can afford a house that has, like, floor area, my wife gets a big art studio on one end (spoiler: it's not enough - she's taken over the garage and living room too) ...
... and I get a big library at the other. In that library, I've been trying to remove creative barriers to all my different projects, which started me on the Drawing Every Day series earlier, and has been very helpful for research on my fiction and my science. One of those friction-reducing tools is a floating bookcase:
I got one of these from the Container Store to organize a set of books I had collected at work related to robot navigation (pictured up top), and since the piece of software that controls a navigating robot is called a "navigation stack", and it was a stack of books about navigation, hence, it is my, um, "navigation stack". (Hey, I never said it was a particularly clever nickname).
These have proved super useful to pull all the books on a given topic into a prominent place so it is easier to see, think about, and find them. I've been doing that to all the topics in my library just by organizing, but it is really useful to have some things much more clearly visible to kickstart that process.
During the pandemic, I ordered another one, but they shipped it without its heavy, sturdy metal base. Rather than give me a replacement base, they sent me an entire new floating bookcase - which was great, mind you, but that left me with the bunch of weird shelves above and the bookcase's long spine.
We're all about recycling here at the Boobie Hatch, so I started thinking about how to salvage these pieces and make a whole nother shelf. Unfortunately, the hard metal base is a carefully machined component. How to make a sturdy shelf when I don't have the ability to make what's arguably the most important piece?
Enter power tool girl.
Sandi and I have a great working relationship: I know how to design sturdy, offbeat pieces of office furniture, and Sandi has the woodworking tools to turn more of those designs into reality than I am able to do myself. After discussing it, measuring the quirky space it would have to go into, and designing the overall concept together, she cut the above wood to shape and painted it for me to match the other furniture.
Here I come back in. Often these pieces have something weird about how to put them together, and I take over the last mile of construction, using my careful, patented "measure several times, cut once, curse when it doesn't fit, then re-measure and re-cut again while grumbling under my breath" technique.
Getting this to work was tricky, because we had to ensure two kinds of stability. The spine of the shelf is a rectangular metal tube, designed to firmly bolt into a heavy metal plate to make sure the shelf stays upright; the edges of this tube would cut straight into an ordinary piece of wood, causing the shelf to sway over time. On top, we used two carefully aligned strips of metal to prevent the spine from cutting into that wood ...
... and on the bottom, we have two not quite so prettily aligned strips of steel, set at off angles so the screws do not collide with the ones coming from above (and are not co-linear, potentially causing splits in the wood). If I remember my geometry, these will prevent the bolts from pulling all the way through the wood. The result is a shelf that stands upright and is reasonably stable:
You may have been wondering what that weird notch is in the bookcase, and why the feet are so big.
The answer is this weird corner of the library, where a room divider and power cable can't be moved ...
... but a shelf can be designed and cut to fit. A small block of wood hides underneath there, to provide extra stability under the shelf; also we added felt so the floor would not get scuffed (though the wood the previous owners chose already looks pre-scuffed; go figure).
Now the shelves can be added back in ...
... and then, the books!
The navigation stack is reloaded!
Now I have three much more topical collections of books, far better organized and discoverable. (The three collections are Thomistic philosophy, consciousness, and the navigation stack; these are sandwiching bookshelves on AI, deep learning, free will and executive control, and sleep and dreaming, among others; all these topics are far more related than at first they appear, but more on that later).
7am fare at the Charlotte airport. Can't quite remember the name of the place, but one of the adventures of red-eye travel is finding a breakfast joint open at 7am (or earlier) on the Atlanta or Charlotte layover prior to the last leg back to South Carolina. There are a few good options in Atlanta - strangely enough, not the fast food ones, which often open a bit later, but as I recall Gordon Biersch is open at 6am, and there's usually some fun quirkly place which you can find to help take the edge off after the long overnight flight.
I'm updating the site, which unfortunately means my beloved book banners need to change. The combo of banner, slider of featured posts, and sticky intro post meant the blog content was way, WAY below the fold, which I do not like (and is not recommended). I had plans to revamp the theme, but didn't find one that easily let me do what I want, and the best was becoming the enemy of the good.
So I fixed the glitch instead. I un-stuck the intro post and moved it into both the about sidebar and into the slider, and eliminated the banner, which now puts the recent content above the fold.
Hopefully this works for you. More updates will roll out as I think of them.
