I know this is going to sound strange, but I think robots can inspire us to be better humans. See, I grew up in Bethlehem, Pennsylvania, the home of Bethlehem Steel. My father was an engineer, and when I was growing up, he would teach me how things worked. We would build projects together, like model rockets and slot cars. Here's the go-kart that we built together. That's me behind the wheel, with my sister and my best friend at the time. And one day, he came home, when I was about 10 years old, and at the dinner table, he announced that for our next project, we were going to build ... a robot.
Znam da će ovo zvučati čudno, ali mislim da nas roboti mogu nadahnuti da postanemo bolji ljudi. Vidite, odrastao sam u Bethlehemu, u Pennsylvaniji, domu tvrtke Bethlehem Steel. Moj otac je bio inženjer i dok sam odrastao, učio me kako stvari rade. Radili smo na zajedničkim projektima, poput modela raketa i autića za utrkivanje. Ovo je go-kart koji smo zajedno izradili. To sam ja za volanom, sa svojom sestrom i tadašnjim najboljim prijateljem. Jednog dana, otac je došao kući, kad sam imao 10-ak godina, i za večerom objavio da ćemo za sljedeći projekt izgraditi robota.
A robot. Now, I was thrilled about this, because at school, there was a bully named Kevin, and he was picking on me, because I was the only Jewish kid in class. So I couldn't wait to get started to work on this, so I could introduce Kevin to my robot.
Robota. Naravno da sam bio ushićen zbog toga jer je u školi bio nasilnik imenom Kevin, koji me maltretirao jer sam bio jedini Židov u razredu. Jedva sam čekao da počnemo raditi na tome kako bih mogao upoznati Kevina sa svojim robotom. (Smijeh)
(Laughter)
(Robot noises)
(Zvuci robota)
(Laughter)
But that wasn't the kind of robot my dad had in mind.
No, moj otac nije na umu imao takvog robota.
(Laughter)
See, he owned a chromium-plating company, and they had to move heavy steel parts between tanks of chemicals. And so he needed an industrial robot like this, that could basically do the heavy lifting.
On je imao tvrtku za kromirane oplate, u kojoj su morali micati teške čelične dijelove između spremnika s kemikalijama, i trebao je ovakvog industrijskog robota koji bi uglavnom mogao dizati te teške stvari.
But my dad didn't get the kind of robot he wanted, either. He and I worked on it for several years, but it was the 1970s, and the technology that was available to amateurs just wasn't there yet. So Dad continued to do this kind of work by hand. And a few years later, he was diagnosed with cancer.
No, ni tata nije dobio robota kakvog je htio. On i ja radili smo na njemu nekoliko godina, ali to su bile 1970-e i tehnologija koja bi bila dostupna amaterima jednostavno nije postojala. Tata je nastavio raditi takve poslove ručno i par godina kasnije dijagnosticirali su mu rak.
You see, what the robot we were trying to build was telling him was not about doing the heavy lifting. It was a warning about his exposure to the toxic chemicals. He didn't recognize that at the time, and he contracted leukemia. And he died at the age of 45. I was devastated by this. And I never forgot the robot that he and I tried to build. When I was at college, I decided to study engineering, like him. And I went to Carnegie Mellon, and I earned my PhD in robotics. I've been studying robots ever since.
Robot kojeg smo pokušavali napraviti nije mu pomagao pri dizanju teških stvari, već ga je upozoravao na izloženost otrovnim kemikalijama. On to tada nije prepoznao i dobio je leukemiju i umro u 45. godini života. To me shrvalo, ali nikad nisam zaboravio robota kojeg smo pokušali izraditi. Odlučio sam studirati inženjerstvo, poput oca. Studirao sam na sveučilištu Carnegie Mellon i doktrorirao robotiku. Od tada proučavam robote.
So what I'd like to tell you about are four robot projects, and how they've inspired me to be a better human. By 1993, I was a young professor at USC, and I was just building up my own robotics lab, and this was the year the World Wide Web came out. And I remember my students were the ones who told me about it, and we would -- we were just amazed. We started playing with this, and that afternoon, we realized that we could use this new, universal interface to allow anyone in the world to operate the robot in our lab.
Htio bih vam, dakle, govoriti o četiri projekta s robotima i o tome kako su me oni nadahnuli da postanem bolji čovjek. 1993. godine bio sam mladi profesor na USC-u, osnivao sam vlastiti laboratorij za robotiku a te se godine pojavio i World Wide Web. Sjećam se da su mi moji studenti rekli za to i bili smo -- bili smo zapanjeni. Počeli smo se igrati time i tog smo poslijepodneva shvatili da preko tog novog, univerzalnog sučelja možemo bilo kome u svijetu omogućiti da upravlja robotom u našem laboratoriju.
So, rather than have it fight or do industrial work, we decided to build a planter, put the robot into the center of it, and we called it the Telegarden. And we had put a camera in the gripper of the hand of the robot, and we wrote some special scripts and software, so that anyone in the world could come in, and by clicking on the screen, they could move the robot around and visit the garden. But we also set up some other software that lets you participate and help us water the garden, remotely. And if you watered it a few times, we'd give you your own seed to plant.
Umjesto da se bori ili radi industrijske poslove, odlučili smo izraditi sadilicu, i staviti robota u središte. To smo nazvali Telegarden. Stavili smo kamere na hvataljke ruke robota i napisali posebne upute i softver kako bi bilo tko u svijetu mogao doći i klikanjem po ekranu micati robota uokolo te posjetiti vrt. Također smo nadogradili drugim softverom koji vam omogućava da sudjelujete i pomognete nam u zalijevanju vrta daljinskim upravljanjem. Kad ga zalijete nekoliko puta, dali bismo vam vlastito sjeme koje možete zasaditi.
Now, this was an engineering project, and we published some papers on the system design of it, but we also thought of it as an art installation. It was invited, after the first year, by the Ars Electronica Museum in Austria, to have it installed in their lobby. And I'm happy to say, it remained online there, 24 hours a day, for almost nine years. That robot was operated by more people than any other robot in history.
To je bio inženjerski projekt pa smo objavili nekoliko radova o oblikovanju, o oblikovanju sustava, ali smo ga smatrali i umjetničkom instalacijom. Nakon prve godine pozvao nas je muzej Ars Electronica iz Austrije da ga postavimo u njihovo predvorje. Sretan sam što mogu reći da je ondje bio online 24 sata na dan gotovo devet godina. Tim je robotom upravljalo više ljudi nego ikojim drugim robotom u povijesti.
Now, one day, I got a call out of the blue from a student, who asked a very simple but profound question. He said, "Is the robot real?" Now, everyone else had assumed it was, and we knew it was, because we were working with it. But I knew what he meant, because it would be possible to take a bunch of pictures of flowers in a garden and then, basically, index them in a computer system, such that it would appear that there was a real robot, when there wasn't. And the more I thought about it, I couldn't think of a good answer for how he could tell the difference.
Jednog dana, dobio sam neočekivan poziv od jednog studenta koji me pitao vrlo jednostavno, ali duboko pitanje. Rekao je: "Postoji li stvarno taj robot?" Svi drugi pretpostavljali su da postoji, a mi smo to znali jer smo na njemu radili. No, znao sam na što je mislio jer bilo bi moguće uzeti mnoštvo slika cvjetova iz vrta i onda ih samo ubaciti u računalni sustav kako bi izgledalo kao da postoji robot, a zapravo ga nema. Što sam više razmišljao o tome, nisam mogao smisliti dobar odgovor kako vidjeti razliku.
This was right about the time that I was offered a position here at Berkeley. And when I got here, I looked up Hubert Dreyfus, who's a world-renowned professor of philosophy, And I talked with him about this and he said, "This is one of the oldest and most central problems in philosophy. It goes back to the Skeptics and up through Descartes. It's the issue of epistemology, the study of how do we know that something is true."
To se dogodilo otprilike u vrijeme kad mi je bilo ponuđen posao ovdje u Berkeleyju. Kad sam stigao ovamo, potražio sam Huberta Dreyfusa, svjetski poznatog profesora filozofije. Razgovarao sam s njime o tome i rekao je: "To je jedan od najstarijih i najvećih problema u filozofiji. Postoji još od Skeptika, pa sve do Descartesa. To je problem epistemologije, proučavanja toga kako znamo da je nešto istina."
So he and I started working together, and we coined a new term: "telepistemology," the study of knowledge at a distance. We invited leading artists, engineers and philosophers to write essays about this, and the results are collected in this book from MIT Press. So thanks to this student, who questioned what everyone else had assumed to be true, this project taught me an important lesson about life, which is to always question assumptions.
Tako smo počeli raditi zajedno i skovali smo novi termin: telepistemologiju, proučavanje znanja na daljinu. Pozvali smo vodeće umjetnike, inženjere i filozofe da napišu eseje o tome, a rezultati su skupljeni u ovoj knjizi u izdanju MIT Pressa. Zahvaljujući tom studentu koji je posumnjao u ono za što su svi drugi pretpostavili da je istina, taj me projekt naučio važnu lekciju o životu, a to je da uvijek treba preispitivati pretpostavke.
Now, the second project I'll tell you about grew out of the Telegarden. As it was operating, my students and I were very interested in how people were interacting with each other, and what they were doing with the garden. So we started thinking: what if the robot could leave the garden and go out into some other interesting environment? Like, for example, what if it could go to a dinner party at the White House?
Drugi projekt o kojem ću vam govoriti proizašao je iz Telegardena. Dok je radio, moje studente i mene zanimalo je u kakvoj su ljudi bili interakciji jedni s drugima i što su radili s vrtom. Počeli smo razmišljati što bi bilo kad bi robot mogao izići iz vrta i otići u neko drugo zanimljivo okruženje? Na primjer, što kad bi mogao otići na večeru u Bijelu kuću? (Smijeh)
(Laughter)
So, because we were interested more in the system design and the user interface than in the hardware, we decided that, rather than have a robot replace the human to go to the party, we'd have a human replace the robot. We called it the Tele-Actor.
Budući da su nas oblikovanje sustava i korisničko sučelje zanimali više nego hardver, odlučili smo, umjesto da robot zamijeni čovjeka na večeri, imati čovjeka da zamijeni robota. Nazvali smo ga Tele-Actor.
We got a human, someone who's very outgoing and gregarious, and she was outfitted with a helmet with various equipment, cameras and microphones, and then a backpack with wireless Internet connection. And the idea was that she could go into a remote and interesting environment, and then over the Internet, people could experience what she was experiencing. So they could see what she was seeing, but then, more importantly, they could participate, by interacting with each other and coming up with ideas about what she should do next and where she should go, and then conveying those to the Tele-Actor. So we got a chance to take the Tele-Actor to the Webby Awards in San Francisco. And that year, Sam Donaldson was the host. Just before the curtain went up, I had about 30 seconds to explain to Mr. Donaldson what we were going to do. And I said, "The Tele-Actor is going to be joining you onstage. This is a new experimental project, and people are watching her on their screens, there's cameras involved and there's microphones and she's got an earbud in her ear, and people over the network are giving her advice about what to do next." And he said, "Wait a second. That's what I do."
Uzeli smo čovjeka, nekoga tko je vrlo otvoren i društven. Bila je opremljena kacigom s raznom opremom, kamerama i mikrofonima, te ruksakom s bežičnim pristupom Internetu. Ideja je bila da bi mogla otići u udaljenu, zanimljivu okolinu, a ljudi bi, preko Interneta, mogli doživjeti isto što i ona, mogli bi vidjeti što ona vidi. Što je još važnije, mogli bi sudjelovati međusobnom interakcijom i davanjem ideja što bi sljedeće mogla učiniti i kamo da ide te bi to prenijeli Tele-Actoru. Dobili smo priliku da predstavimo Tele-Actora na Webby Awards u San Franciscu. Te je godine domaćin bio Sam Donaldson. Malo prije no što se digao zastor, imao sam oko 30 sekundi da objasnim g. Donaldsonu što ćemo učiniti. Rekao sam: "Tele-Actor će biti s vama na pozornici. To je novi pokusni projekt, ljudi je gledaju na svojim ekranima. Ima -- tu su kamere i mikrofoni, a ima i bubu u uhu. Ljudi u mreži daju joj savjete što da sljedeće napravi." On je rekao: "Čekaj malo, to je moj posao." (Smijeh)
(Laughter)
So he loved the concept, and when the Tele-Actor walked onstage, she walked right up to him, and she gave him a big kiss right on the lips.
Svidjela mu se ideja, i kad je Tele-Actor stupio na pozornicu, otišla je do njega i dala mu velik poljubac
(Laughter)
ravno u usta. (Smijeh)
We were totally surprised -- we had no idea that would happen. And he was great, he just gave her a big hug in return, and it worked out great. But that night, as we were packing up, I asked the Tele-Actor, how did the Tele-Directors decide that they would give a kiss to Sam Donaldson? And she said they hadn't. She said, when she was just about to walk onstage, the Tele-Directors still were trying to agree on what to do, and so she just walked onstage and did what felt most natural.
Bili smo potpuno iznenađeni. Nismo imali pojma da će se to dogoditi. Bio je odličan. Uzvratio joj je velikim zagrljajem i ispalo je sjajno. No, te noći, dok smo se pakirali, pitao sam Tele-Actora kako su Tele-Direktori odlučili dati poljubac Samu Donaldsonu? Rekla je da nisu to odlučili. Rekla je da, baš kad je trebala stupiti na pozornicu, Tele-Direktori su se još pokušavali dogovoriti što da učine, pa je tako samo ušla na pozornicu
(Laughter)
i učinila ono što joj je bilo najprirodnije. (Smijeh)
So, the success of the Tele-Actor that night was due to the fact that she was a wonderful actor. She knew when to trust her instincts. And so that project taught me another lesson about life, which is that, when in doubt, improvise.
Dakle, za uspjeh Tele-Actora te noći zaslužno je to što je ona odlična glumica. Znala je kada treba vjerovati instinktima. Tako me taj projekt naučio još jednu lekciju o životu: kad ne znaš što bi, improviziraj. (Smijeh)
(Laughter)
Now, the third project grew out of my experience when my father was in the hospital. He was undergoing a treatment -- chemotherapy treatments -- and there's a related treatment called brachytherapy, where tiny, radioactive seeds are placed into the body to treat cancerous tumors. And the way it's done, as you can see here, is that surgeons insert needles into the body to deliver the seeds. And all these needles are inserted in parallel. So it's very common that some of the needles penetrate sensitive organs. And as a result, the needles damage these organs, cause damage, which leads to trauma and side effects. So my students and I wondered: what if we could modify the system, so that the needles could come in at different angles?
Treći projekt proizašao je iz mog iskustva kad mi je otac bio u bolnici. Bio je na liječenju, na kemoterapiji, a postoji i slična terapija, brahiterapija, u kojoj se sitne radioaktivne čestice stavljaju u tijelo kako bi izliječile kancerogene tumore. To se izvodi, kao što vidite ovdje, tako da doktori ubadaju igle po tijelu kako bi doveli čestice i sve to, sve te igle postavljene su paralelno pa vrlo često neke od igala probiju osjetljive organe i tako oštećuju organe i prouzročuju štetu koja dovodi do traume i nuspojava. Tako smo se moji studenti i ja pitali, što kad bismo mogli promijeniti sustav tako da igle mogu ulaziti pod različitim kutovima?
So we simulated this; we developed some optimization algorithms and we simulated this. And we were able to show that we are able to avoid the delicate organs, and yet still achieve the coverage of the tumors with the radiation.
Simulirali smo to i razvili nekoliko optimizacijskih algoritama te smo uspjeli pokazati da možemo izbjeći osjetljive organe, a ipak postići pokrivenost tumora radijacijom.
So now, we're working with doctors at UCSF and engineers at Johns Hopkins, and we're building a robot that has a number of -- it's a specialized design with different joints that can allow the needles to come in at an infinite variety of angles. And as you can see here, they can avoid delicate organs and still reach the targets they're aiming for. So, by questioning this assumption that all the needles have to be parallel, this project also taught me an important lesson: When in doubt, when your path is blocked, pivot.
Trenutno radimo s liječnicima na UCSF-u i inženjerima iz Johns Hopkinsa i gradimo robota koji ima brojne -- specijaliziranog je dizajna, sa zglobovima koji omogućuju da igle budu ubodene pod beskrajno mnogo kutova. Kao što možete ovdje vidjeti, izbjeći će osjetljive organe, a opet doseći ciljana mjesta. Preispitivanjem pretpostavke da igle moraju biti postavljene paralelno, taj me projekt naučio važnu lekciju: Kad ne znaš što bi --
And the last project also has to do with medical robotics. And this is something that's grown out of a system called the da Vinci surgical robot. And this is a commercially available device. It's being used in over 2,000 hospitals around the world. The idea is it allows the surgeon to operate comfortably in his own coordinate frame. Many of the subtasks in surgery are very routine and tedious, like suturing, and currently, all of these are performed under the specific and immediate control of the surgeon. So the surgeon becomes fatigued over time. And we've been wondering, what if we could program the robot to perform some of these subtasks, and thereby free the surgeon to focus on the more complicated parts of the surgery, and also cut down on the time that the surgery would take if we could get the robot to do them a little bit faster?
Kada ti je put zakrčen, zakreni se. Zadnji projekt također ima veze s medicinskom robotikom. Ovo je proizašlo iz sustava koji se zove da Vincijev kirurški robot, koji je komercijalno dostupan uređaj. Koristi ga više od 2000 bolnica diljem svijeta, a omogućuje kirurgu da udobno djeluje u svojem vlastitom koordinatnom okviru. No, mnogi podzadaci u kirurgiji vrlo su rutinski i dosadni, poput šivanja, i trenutno se svi provode pod posebnom i neposrednom kontrolom kirurga pa se kirurg s vremenom umara. Razmišljali smo, što kad bismo mogli programirati robota da obavlja neke od tih podzadataka kako bi se kirurzi mogli slobodno koncentrirati na kompliciranije dijelove operacije? I bi li operacije mogle biti kraće kad bi robot te zadatke mogao obavljati malo brže?
Now, it's hard to program a robot to do delicate things like this. But it turns out my colleague Pieter Abbeel, who's here at Berkeley, has developed a new set of techniques for teaching robots from example. So he's gotten robots to fly helicopters, do incredibly interesting, beautiful acrobatics, by watching human experts fly them. So we got one of these robots. We started working with Pieter and his students. And we asked a surgeon to perform a task -- with the robot. So what we're doing is asking the surgeon to perform the task, and we record the motions of the robot.
Teško je programirati robota da radi takve osjetljive stvari, ali doznao sam da je moj kolega Pieter Abbeel, koji je ovdje na Berkeleyju, razvio nove tehnike kojima uči robote na primjerima. Tako je imao robote koji upravljaju helikopterima, izvode nevjerojatno zanimljive, prekrasne akrobacije gledajući ljudske majstore kako ih izvode. Dobili smo jednoga od tih robota. Počeli smo raditi s Pieterom i njegovim studentima i zamolili smo jednoga kirurga da izvede zadatak a mi tada s robotom, tražimo od robota -- kirurg treba izvesti zadatak,
So here's an example. I'll use tracing out a figure eight as an example. So here's what it looks like when the robot -- this is what the robot's path looks like, those three examples. Now, those are much better than what a novice like me could do, but they're still jerky and imprecise.
a mi snimamo pokrete robota. Evo primjera. Uzet ću oblik osmice, pratit ću oblik osmice za primjer. Ovako to izgleda kad robot -- ovako izgleda robotov put, ta tri primjera. To je mnogo bolje nego što bi početnik kao ja mogao napraviti, ali još uvijek je grčevito i neprecizno.
So we record all these examples, the data, and then go through a sequence of steps. First, we use a technique called dynamic time warping from speech recognition. And this allows us to temporally align all of the examples. And then we apply Kalman filtering, a technique from control theory, that allows us to statistically analyze all the noise and extract the desired trajectory that underlies them. Now we take those human demonstrations -- they're all noisy and imperfect -- and we extract from them an inferred task trajectory and control sequence for the robot. We then execute that on the robot, we observe what happens, then we adjust the controls, using a sequence of techniques called iterative learning. Then what we do is we increase the velocity a little bit. We observe the results, adjust the controls again, and observe what happens. And we go through this several rounds.
Snimili smo sve te primjere, podatke, i prošli kroz slijed koraka. Prvo smo koristili tehniku dinamičkog savijanja vremena iz prepoznavanja govora, i to nam je omogućilo da privremeno poravnamo sve primjere. Zatim izvršimo Kalmanovo filtriranje, tehniku iz teorije kontrole, koja nam omogućava da statistički analiziramo buku i izlučimo željenu putanju koja joj je temelj. Zatim uzmemo te ljudske demonstracije, bučne i nesavršene, i izlučimo iz njih pretpostavljenu putanju zadatka i kontrolni slijed za robota. To primijenimo na robotu, gledamo što se događa, te prilagodimo kontrole koristeći slijed tehnika koji se zove iterativno učenje. Zatim malo povećamo brzinu. Promatramo rezultate, ponovno prilagodimo kontrole i promatramo što se događa. Nekoliko puta prolazimo kroz taj postupak.
And here's the result. That's the inferred task trajectory, and here's the robot moving at the speed of the human. Here's four times the speed of the human. Here's seven times. And here's the robot operating at 10 times the speed of the human. So we're able to get a robot to perform a delicate task like a surgical subtask, at 10 times the speed of a human. So this project also, because of its involved practicing and learning, doing something over and over again, this project also has a lesson, which is: if you want to do something well, there's no substitute for practice, practice, practice.
Evo rezultata. To je pretpostavljena putanja zadatka, a ovo je robot koji se miče ljudskom brzinom. Ovo je četiri puta brže. Ovdje sedam puta. I ovdje je robot koji radi 10 puta brže od brzine čovjeka. Dakle, robot može izvršiti osjetljiv zadatak poput kirurškog podzadatka u brzini deset puta većoj od čovjekove. Ovaj projekt također, budući da uključuje vježbanje i učenje, neprestano ponavljanje nečega, iz ovog projekta također možemo naučiti jednu lekciju: ako želiš nešto učiniti dobro, nema druge nego vježbati, vježbati, vježbati.
So these are four of the lessons that I've learned from robots over the years. And the field of robotics has gotten much better over time. Nowadays, high school students can build robots, like the industrial robot my dad and I tried to build.
To su četiri pouke koje sam tijekom godina naučio od robota. I robotika -- područje robotike mnogo se poboljšalo tijekom vremena. Danas srednjškolci mogu izrađivati robote poput onog industrijskog kojeg smo moj otac i ja pokušali izraditi.
But, it's very -- now ... And now, I have a daughter, named Odessa. She's eight years old. And she likes robots, too. Maybe it runs in the family.
Sada imam kćer, zove se Odessa. Ima osam godina i također voli robote. Možda je to nešto nasljedno. (Smijeh)
(Laughter)
Volio bih da je mogla upoznati mojega oca.
I wish she could meet my dad. And now I get to teach her how things work, and we get to build projects together. And I wonder what kind of lessons she'll learn from them.
Sada je mogu učiti kako stvari rade, možemo zajedno raditi na projektima i pitam se kakve će ona pouke iz njih izvući.
Robots are the most human of our machines. They can't solve all of the world's problems, but I think they have something important to teach us. I invite all of you to think about the innovations that you're interested in, the machines that you wish for. And think about what they might be telling you. Because I have a hunch that many of our technological innovations, the devices we dream about, can inspire us to be better humans.
Roboti su najljudskiji od svih strojeva. Oni ne mogu riješiti sve svjetske probleme, ali mislim da nas mogu naučiti nečemu bitnome. Pozivam vas sve da razmislite o inovacijama koje vas zanimaju, strojevima koje želite i promislite što bi vam mogli reći, jer imam osjećaj da nas mnoge naše tehnološke inovacije, uređaji o kojima sanjamo, mogu potaknuti da postanemo bolji ljudi.
Thank you.
Hvala. (Pljesak)
(Applause)