WEBVTT Kind: captions Language: en 00:00:00.240 --> 00:00:02.230 align:start position:0% so<00:00:00.560> just<00:00:00.799> your<00:00:01.120> name<00:00:01.520> and<00:00:01.760> where<00:00:01.920> you<00:00:02.080> were 00:00:02.230 --> 00:00:02.240 align:start position:0% so just your name and where you were 00:00:02.240 --> 00:00:03.510 align:start position:0% so just your name and where you were born<00:00:02.480> and<00:00:02.560> when 00:00:03.510 --> 00:00:03.520 align:start position:0% born and when 00:00:03.520 --> 00:00:05.749 align:start position:0% born and when my<00:00:03.679> name<00:00:03.840> is<00:00:03.919> brian<00:00:04.160> gerke<00:00:04.560> and<00:00:04.640> i<00:00:04.720> was<00:00:04.880> born<00:00:05.680> in 00:00:05.749 --> 00:00:05.759 align:start position:0% my name is brian gerke and i was born in 00:00:05.759 --> 00:00:07.749 align:start position:0% my name is brian gerke and i was born in december<00:00:06.440> 1976 00:00:07.749 --> 00:00:07.759 align:start position:0% december 1976 00:00:07.759 --> 00:00:10.230 align:start position:0% december 1976 in<00:00:08.160> uh<00:00:08.480> at<00:00:08.559> the<00:00:08.800> han<00:00:09.120> air<00:00:09.360> force<00:00:09.599> base<00:00:09.920> in<00:00:10.000> west 00:00:10.230 --> 00:00:10.240 align:start position:0% in uh at the han air force base in west 00:00:10.240 --> 00:00:11.669 align:start position:0% in uh at the han air force base in west germany 00:00:11.669 --> 00:00:11.679 align:start position:0% germany 00:00:11.679 --> 00:00:13.749 align:start position:0% germany and<00:00:12.080> where<00:00:12.480> did<00:00:12.639> you<00:00:12.799> go<00:00:12.960> to<00:00:13.040> school<00:00:13.360> there 00:00:13.749 --> 00:00:13.759 align:start position:0% and where did you go to school there 00:00:13.759 --> 00:00:14.950 align:start position:0% and where did you go to school there stayed<00:00:14.000> there<00:00:14.320> for 00:00:14.950 --> 00:00:14.960 align:start position:0% stayed there for 00:00:14.960 --> 00:00:15.990 align:start position:0% stayed there for well<00:00:15.200> i<00:00:15.280> stayed<00:00:15.440> there<00:00:15.599> for<00:00:15.679> a<00:00:15.759> couple<00:00:15.920> of 00:00:15.990 --> 00:00:16.000 align:start position:0% well i stayed there for a couple of 00:00:16.000 --> 00:00:18.310 align:start position:0% well i stayed there for a couple of years<00:00:16.560> uh<00:00:16.720> before<00:00:17.119> moving<00:00:17.359> on<00:00:17.600> and<00:00:17.760> my<00:00:18.000> my<00:00:18.160> dad 00:00:18.310 --> 00:00:18.320 align:start position:0% years uh before moving on and my my dad 00:00:18.320 --> 00:00:20.150 align:start position:0% years uh before moving on and my my dad was<00:00:18.480> in<00:00:18.560> the<00:00:18.640> air<00:00:18.720> force<00:00:18.960> so<00:00:19.119> we<00:00:19.199> moved<00:00:19.439> around 00:00:20.150 --> 00:00:20.160 align:start position:0% was in the air force so we moved around 00:00:20.160 --> 00:00:22.230 align:start position:0% was in the air force so we moved around a<00:00:20.320> fair<00:00:20.560> bit<00:00:20.880> lived<00:00:21.119> in<00:00:21.279> north<00:00:21.439> carolina 00:00:22.230 --> 00:00:22.240 align:start position:0% a fair bit lived in north carolina 00:00:22.240 --> 00:00:23.349 align:start position:0% a fair bit lived in north carolina southern<00:00:22.560> california 00:00:23.349 --> 00:00:23.359 align:start position:0% southern california 00:00:23.359 --> 00:00:26.310 align:start position:0% southern california lived<00:00:23.600> in<00:00:23.680> madrid<00:00:24.160> for<00:00:24.240> a<00:00:24.320> couple<00:00:24.560> of<00:00:24.640> years<00:00:25.920> uh 00:00:26.310 --> 00:00:26.320 align:start position:0% lived in madrid for a couple of years uh 00:00:26.320 --> 00:00:27.349 align:start position:0% lived in madrid for a couple of years uh ended<00:00:26.560> up<00:00:26.640> in<00:00:26.720> the<00:00:26.880> south 00:00:27.349 --> 00:00:27.359 align:start position:0% ended up in the south 00:00:27.359 --> 00:00:32.470 align:start position:0% ended up in the south went<00:00:27.519> to<00:00:27.680> high<00:00:27.840> school<00:00:28.320> in<00:00:29.279> rural<00:00:29.679> georgia 00:00:32.470 --> 00:00:32.480 align:start position:0% 00:00:32.480 --> 00:00:34.310 align:start position:0% how<00:00:32.640> did<00:00:32.719> you<00:00:32.800> get<00:00:32.960> interested<00:00:33.440> in<00:00:33.920> science 00:00:34.310 --> 00:00:34.320 align:start position:0% how did you get interested in science 00:00:34.320 --> 00:00:35.670 align:start position:0% how did you get interested in science and<00:00:34.399> engineering 00:00:35.670 --> 00:00:35.680 align:start position:0% and engineering 00:00:35.680 --> 00:00:37.270 align:start position:0% and engineering i've<00:00:35.840> always<00:00:36.079> been<00:00:36.399> been<00:00:36.640> interested<00:00:37.040> in 00:00:37.270 --> 00:00:37.280 align:start position:0% i've always been been interested in 00:00:37.280 --> 00:00:39.030 align:start position:0% i've always been been interested in computers<00:00:38.399> i<00:00:38.559> knew 00:00:39.030 --> 00:00:39.040 align:start position:0% computers i knew 00:00:39.040 --> 00:00:41.590 align:start position:0% computers i knew from<00:00:39.360> pretty<00:00:39.680> early<00:00:40.000> on<00:00:40.320> that<00:00:40.559> i<00:00:40.879> i<00:00:41.040> wanted<00:00:41.360> to 00:00:41.590 --> 00:00:41.600 align:start position:0% from pretty early on that i i wanted to 00:00:41.600 --> 00:00:43.270 align:start position:0% from pretty early on that i i wanted to do<00:00:41.760> something<00:00:42.079> with<00:00:42.320> computers<00:00:42.800> when<00:00:42.960> i<00:00:43.040> was 00:00:43.270 --> 00:00:43.280 align:start position:0% do something with computers when i was 00:00:43.280 --> 00:00:44.069 align:start position:0% do something with computers when i was in 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screen<00:00:50.000> it<00:00:50.079> would<00:00:50.239> fit<00:00:50.399> it 00:00:50.470 --> 00:00:50.480 align:start position:0% it didn't have a screen it would fit it 00:00:50.480 --> 00:00:51.750 align:start position:0% it didn't have a screen it would fit it but<00:00:50.559> it<00:00:50.640> could<00:00:50.800> just<00:00:51.039> barely<00:00:51.280> fit<00:00:51.440> inside<00:00:51.680> a 00:00:51.750 --> 00:00:51.760 align:start position:0% but it could just barely fit inside a 00:00:51.760 --> 00:00:53.110 align:start position:0% but it could just barely fit inside a briefcase<00:00:52.160> so<00:00:52.320> he<00:00:52.399> would<00:00:52.559> carry<00:00:52.800> it<00:00:52.879> to<00:00:53.039> and 00:00:53.110 --> 00:00:53.120 align:start position:0% briefcase so he would carry it to and 00:00:53.120 --> 00:00:54.470 align:start position:0% briefcase so he would carry it to and from<00:00:53.280> work<00:00:53.520> and<00:00:53.600> when<00:00:53.760> he<00:00:53.840> brought<00:00:54.000> it<00:00:54.079> home<00:00:54.320> he 00:00:54.470 --> 00:00:54.480 align:start position:0% from work and when he brought it home he 00:00:54.480 --> 00:00:55.670 align:start position:0% from work and when he brought it home he took<00:00:54.719> it<00:00:54.800> up<00:00:54.879> to<00:00:55.039> our<00:00:55.199> tv 00:00:55.670 --> 00:00:55.680 align:start position:0% took it up to our tv 00:00:55.680 --> 00:00:57.590 align:start position:0% took it up to our tv and<00:00:56.160> then<00:00:56.320> we<00:00:56.640> you<00:00:56.719> know<00:00:56.879> we<00:00:56.960> could<00:00:57.039> play<00:00:57.280> games 00:00:57.590 --> 00:00:57.600 align:start position:0% and then we you know we could play games 00:00:57.600 --> 00:00:59.510 align:start position:0% and then we you know we could play games on<00:00:57.760> it<00:00:57.920> right<00:00:58.160> programs<00:00:58.559> and<00:00:58.719> basic 00:00:59.510 --> 00:00:59.520 align:start position:0% on it right programs and basic 00:00:59.520 --> 00:01:01.590 align:start position:0% on it right programs and basic um<00:01:00.079> so<00:01:00.239> when<00:01:00.399> it<00:01:00.480> came<00:01:00.640> time<00:01:00.879> to<00:01:00.960> go<00:01:01.120> to<00:01:01.199> college 00:01:01.590 --> 00:01:01.600 align:start position:0% um so when it came time to go to college 00:01:01.600 --> 00:01:02.549 align:start position:0% um so when it came time to go to college i 00:01:02.549 --> 00:01:02.559 align:start position:0% i 00:01:02.559 --> 00:01:04.310 align:start position:0% i you<00:01:02.719> know<00:01:02.960> said<00:01:03.199> i<00:01:03.280> want<00:01:03.359> to<00:01:03.440> go<00:01:03.600> into<00:01:03.920> computer 00:01:04.310 --> 00:01:04.320 align:start position:0% you know said i want to go into computer 00:01:04.320 --> 00:01:05.750 align:start position:0% you know said i want to go into computer engineering 00:01:05.750 --> 00:01:05.760 align:start position:0% engineering 00:01:05.760 --> 00:01:08.469 align:start position:0% engineering i<00:01:05.920> remember<00:01:06.240> in<00:01:06.400> college<00:01:06.799> not<00:01:07.760> not<00:01:08.000> being<00:01:08.240> able 00:01:08.469 --> 00:01:08.479 align:start position:0% i remember in college not not being able 00:01:08.479 --> 00:01:09.750 align:start position:0% i remember in college not not being able to<00:01:08.640> connect<00:01:08.960> at<00:01:09.119> all<00:01:09.280> with<00:01:09.439> people<00:01:09.600> who 00:01:09.750 --> 00:01:09.760 align:start position:0% to connect at all with people who 00:01:09.760 --> 00:01:10.870 align:start position:0% to connect at all with people who couldn't<00:01:10.080> pick<00:01:10.240> a<00:01:10.320> major 00:01:10.870 --> 00:01:10.880 align:start position:0% couldn't pick a major 00:01:10.880 --> 00:01:12.710 align:start position:0% couldn't pick a major when<00:01:11.119> i<00:01:11.200> applied<00:01:11.600> i<00:01:11.680> wrote<00:01:11.920> i'm<00:01:12.080> going<00:01:12.159> to<00:01:12.560> do 00:01:12.710 --> 00:01:12.720 align:start position:0% when i applied i wrote i'm going to do 00:01:12.720 --> 00:01:13.990 align:start position:0% when i applied i wrote i'm going to do computer<00:01:13.119> engineering<00:01:13.520> and<00:01:13.600> then<00:01:13.680> four<00:01:13.840> years 00:01:13.990 --> 00:01:14.000 align:start position:0% computer engineering and then four years 00:01:14.000 --> 00:01:15.109 align:start position:0% computer engineering and then four years later<00:01:14.240> graduated<00:01:14.640> with<00:01:14.720> a<00:01:14.799> degree<00:01:15.040> in 00:01:15.109 --> 00:01:15.119 align:start position:0% later graduated with a degree in 00:01:15.119 --> 00:01:16.469 align:start position:0% later graduated with a degree in computer<00:01:15.439> engineering<00:01:15.920> the<00:01:16.000> whole<00:01:16.159> idea<00:01:16.400> of 00:01:16.469 --> 00:01:16.479 align:start position:0% computer engineering the whole idea of 00:01:16.479 --> 00:01:17.670 align:start position:0% computer engineering the whole idea of wandering<00:01:16.880> around<00:01:17.119> and 00:01:17.670 --> 00:01:17.680 align:start position:0% wandering around and 00:01:17.680 --> 00:01:18.950 align:start position:0% wandering around and not<00:01:17.840> knowing<00:01:18.080> what<00:01:18.159> you<00:01:18.320> wanted<00:01:18.479> to<00:01:18.560> do<00:01:18.799> was 00:01:18.950 --> 00:01:18.960 align:start position:0% not knowing what you wanted to do was 00:01:18.960 --> 00:01:21.109 align:start position:0% not knowing what you wanted to do was totally<00:01:19.280> foreign<00:01:19.600> to<00:01:19.680> me<00:01:20.479> and<00:01:20.640> so<00:01:20.799> where<00:01:20.960> did 00:01:21.109 --> 00:01:21.119 align:start position:0% totally foreign to me and so where did 00:01:21.119 --> 00:01:22.230 align:start position:0% totally foreign to me and so where did you<00:01:21.280> go<00:01:21.439> to<00:01:21.520> college 00:01:22.230 --> 00:01:22.240 align:start position:0% you go to college 00:01:22.240 --> 00:01:24.870 align:start position:0% you go to college tulane<00:01:22.799> tulane<00:01:23.119> university<00:01:23.600> in<00:01:23.680> new<00:01:23.840> orleans 00:01:24.870 --> 00:01:24.880 align:start position:0% tulane tulane university in new orleans 00:01:24.880 --> 00:01:26.310 align:start position:0% tulane tulane university in new orleans i<00:01:25.040> got<00:01:25.200> my<00:01:25.360> degree<00:01:25.600> from<00:01:25.759> a 00:01:26.310 --> 00:01:26.320 align:start position:0% i got my degree from a 00:01:26.320 --> 00:01:28.230 align:start position:0% i got my degree from a department<00:01:26.720> that<00:01:26.880> no<00:01:27.040> longer<00:01:27.439> exists<00:01:27.920> because 00:01:28.230 --> 00:01:28.240 align:start position:0% department that no longer exists because 00:01:28.240 --> 00:01:30.149 align:start position:0% department that no longer exists because in<00:01:28.320> the<00:01:28.400> wake<00:01:28.720> of<00:01:28.960> hurricane<00:01:29.439> katrina<00:01:29.920> they 00:01:30.149 --> 00:01:30.159 align:start position:0% in the wake of hurricane katrina they 00:01:30.159 --> 00:01:33.749 align:start position:0% in the wake of hurricane katrina they closed<00:01:30.400> the<00:01:30.560> school<00:01:30.720> of<00:01:30.880> engineering 00:01:33.749 --> 00:01:33.759 align:start position:0% 00:01:33.759 --> 00:01:36.230 align:start position:0% and<00:01:34.000> um<00:01:34.960> did<00:01:35.119> you<00:01:35.200> go<00:01:35.360> on<00:01:35.439> to<00:01:35.600> graduate<00:01:35.920> school 00:01:36.230 --> 00:01:36.240 align:start position:0% and um did you go on to graduate school 00:01:36.240 --> 00:01:37.270 align:start position:0% and um did you go on to graduate school after<00:01:36.560> that 00:01:37.270 --> 00:01:37.280 align:start position:0% after that 00:01:37.280 --> 00:01:39.350 align:start position:0% after that i<00:01:37.439> did<00:01:37.840> so<00:01:38.000> i<00:01:38.079> got<00:01:38.400> i<00:01:38.479> got<00:01:38.640> interested<00:01:39.040> in 00:01:39.350 --> 00:01:39.360 align:start position:0% i did so i got i got interested in 00:01:39.360 --> 00:01:41.190 align:start position:0% i did so i got i got interested in robotics<00:01:40.240> at<00:01:40.479> tulane 00:01:41.190 --> 00:01:41.200 align:start position:0% robotics at tulane 00:01:41.200 --> 00:01:43.190 align:start position:0% robotics at tulane um<00:01:41.680> there<00:01:41.840> was<00:01:42.000> a<00:01:42.159> young<00:01:42.399> assistant<00:01:42.799> professor 00:01:43.190 --> 00:01:43.200 align:start position:0% um there was a young assistant professor 00:01:43.200 --> 00:01:45.030 align:start position:0% um there was a young assistant professor there<00:01:43.439> named<00:01:44.000> jim<00:01:44.240> jennings<00:01:44.640> who<00:01:44.799> had<00:01:44.880> just 00:01:45.030 --> 00:01:45.040 align:start position:0% there named jim jennings who had just 00:01:45.040 --> 00:01:46.550 align:start position:0% there named jim jennings who had just come<00:01:45.200> out<00:01:45.360> of<00:01:45.439> cornell 00:01:46.550 --> 00:01:46.560 align:start position:0% come out of cornell 00:01:46.560 --> 00:01:48.149 align:start position:0% come out of cornell out<00:01:46.640> of<00:01:46.720> bruce<00:01:46.960> donald's<00:01:47.439> group<00:01:47.840> so<00:01:48.000> he 00:01:48.149 --> 00:01:48.159 align:start position:0% out of bruce donald's group so he 00:01:48.159 --> 00:01:49.990 align:start position:0% out of bruce donald's group so he started<00:01:48.399> a<00:01:48.479> robotics<00:01:48.960> lab<00:01:49.200> at<00:01:49.280> tulane 00:01:49.990 --> 00:01:50.000 align:start position:0% started a robotics lab at tulane 00:01:50.000 --> 00:01:52.469 align:start position:0% started a robotics lab at tulane and<00:01:50.320> some<00:01:50.479> of<00:01:50.560> my<00:01:50.799> friends<00:01:51.119> were<00:01:52.000> helping<00:01:52.320> out 00:01:52.469 --> 00:01:52.479 align:start position:0% and some of my friends were helping out 00:01:52.479 --> 00:01:53.270 align:start position:0% and some of my friends were helping out in<00:01:52.560> his<00:01:52.720> lab 00:01:53.270 --> 00:01:53.280 align:start position:0% in his lab 00:01:53.280 --> 00:01:55.190 align:start position:0% in his lab we<00:01:53.439> were<00:01:53.600> all<00:01:53.759> undergrads<00:01:54.640> he<00:01:54.799> had<00:01:54.880> a<00:01:54.960> couple 00:01:55.190 --> 00:01:55.200 align:start position:0% we were all undergrads he had a couple 00:01:55.200 --> 00:01:56.870 align:start position:0% we were all undergrads he had a couple of<00:01:55.280> grad<00:01:55.520> students<00:01:55.840> as<00:01:55.920> well<00:01:56.240> and<00:01:56.399> just<00:01:56.560> so<00:01:56.799> as 00:01:56.870 --> 00:01:56.880 align:start position:0% of grad students as well and just so as 00:01:56.880 --> 00:01:57.670 align:start position:0% of grad students as well and just so as an<00:01:57.040> undergrad 00:01:57.670 --> 00:01:57.680 align:start position:0% an undergrad 00:01:57.680 --> 00:01:59.830 align:start position:0% an undergrad i<00:01:57.920> started<00:01:58.159> to<00:01:58.640> sort<00:01:58.799> of<00:01:59.119> be<00:01:59.360> on<00:01:59.439> the<00:01:59.680> the 00:01:59.830 --> 00:01:59.840 align:start position:0% i started to sort of be on the the 00:01:59.840 --> 00:02:01.270 align:start position:0% i started to sort of be on the the fringes<00:02:00.240> of<00:02:00.320> the<00:02:00.479> group<00:02:00.640> that<00:02:00.799> was 00:02:01.270 --> 00:02:01.280 align:start position:0% fringes of the group that was 00:02:01.280 --> 00:02:03.749 align:start position:0% fringes of the group that was hacking<00:02:01.680> on<00:02:01.759> robots<00:02:02.159> in<00:02:02.320> his<00:02:02.479> lab<00:02:03.439> ended<00:02:03.680> up 00:02:03.749 --> 00:02:03.759 align:start position:0% hacking on robots in his lab ended up 00:02:03.759 --> 00:02:05.429 align:start position:0% hacking on robots in his lab ended up doing<00:02:04.000> my<00:02:04.240> senior 00:02:05.429 --> 00:02:05.439 align:start position:0% doing my senior 00:02:05.439 --> 00:02:07.830 align:start position:0% doing my senior thesis<00:02:06.159> under<00:02:06.320> his<00:02:06.479> supervision<00:02:07.119> with<00:02:07.280> robots 00:02:07.830 --> 00:02:07.840 align:start position:0% thesis under his supervision with robots 00:02:07.840 --> 00:02:09.669 align:start position:0% thesis under his supervision with robots and<00:02:08.000> when<00:02:08.160> it<00:02:08.239> came<00:02:08.399> time<00:02:08.560> to<00:02:08.720> graduate<00:02:09.200> i 00:02:09.669 --> 00:02:09.679 align:start position:0% and when it came time to graduate i 00:02:09.679 --> 00:02:12.150 align:start position:0% and when it came time to graduate i um<00:02:10.560> you<00:02:10.640> know<00:02:10.800> i<00:02:11.039> looked<00:02:11.280> at<00:02:11.440> my<00:02:11.680> options<00:02:11.920> which 00:02:12.150 --> 00:02:12.160 align:start position:0% um you know i looked at my options which 00:02:12.160 --> 00:02:13.830 align:start position:0% um you know i looked at my options which were<00:02:12.319> to<00:02:12.480> go<00:02:12.640> get<00:02:12.720> a<00:02:12.800> real<00:02:13.040> job<00:02:13.360> or 00:02:13.830 --> 00:02:13.840 align:start position:0% were to go get a real job or 00:02:13.840 --> 00:02:15.990 align:start position:0% were to go get a real job or stay<00:02:14.080> in<00:02:14.160> school<00:02:14.640> and<00:02:14.720> i'd<00:02:15.040> i'd<00:02:15.280> done<00:02:15.760> real 00:02:15.990 --> 00:02:16.000 align:start position:0% stay in school and i'd i'd done real 00:02:16.000 --> 00:02:17.510 align:start position:0% stay in school and i'd i'd done real jobs<00:02:16.319> before<00:02:16.640> so<00:02:16.800> that<00:02:16.959> and<00:02:17.040> that<00:02:17.120> didn't<00:02:17.360> seem 00:02:17.510 --> 00:02:17.520 align:start position:0% jobs before so that and that didn't seem 00:02:17.520 --> 00:02:19.030 align:start position:0% jobs before so that and that didn't seem like<00:02:17.680> that<00:02:17.840> much<00:02:18.000> fun<00:02:18.239> so 00:02:19.030 --> 00:02:19.040 align:start position:0% like that much fun so 00:02:19.040 --> 00:02:21.190 align:start position:0% like that much fun so i<00:02:19.599> applied<00:02:19.840> to<00:02:20.000> graduate<00:02:20.319> school<00:02:20.720> and<00:02:20.959> ended 00:02:21.190 --> 00:02:21.200 align:start position:0% i applied to graduate school and ended 00:02:21.200 --> 00:02:22.390 align:start position:0% i applied to graduate school and ended up<00:02:21.440> at 00:02:22.390 --> 00:02:22.400 align:start position:0% up at 00:02:22.400 --> 00:02:24.869 align:start position:0% up at in<00:02:22.560> the<00:02:22.640> interaction<00:02:23.120> lab<00:02:23.520> at<00:02:23.760> usc<00:02:24.560> down<00:02:24.800> in 00:02:24.869 --> 00:02:24.879 align:start position:0% in the interaction lab at usc down in 00:02:24.879 --> 00:02:26.070 align:start position:0% in the interaction lab at usc down in los<00:02:25.120> angeles 00:02:26.070 --> 00:02:26.080 align:start position:0% los angeles 00:02:26.080 --> 00:02:27.830 align:start position:0% los angeles and<00:02:26.239> what<00:02:26.400> were<00:02:26.640> some<00:02:26.800> of<00:02:26.879> the<00:02:27.280> projects<00:02:27.760> that 00:02:27.830 --> 00:02:27.840 align:start position:0% and what were some of the projects that 00:02:27.840 --> 00:02:31.030 align:start position:0% and what were some of the projects that you<00:02:28.000> were<00:02:28.160> doing<00:02:28.480> in<00:02:28.640> tulane<00:02:29.120> with<00:02:29.280> the<00:02:29.440> group 00:02:31.030 --> 00:02:31.040 align:start position:0% you were doing in tulane with the group 00:02:31.040 --> 00:02:33.910 align:start position:0% you were doing in tulane with the group it<00:02:31.120> was<00:02:31.360> mostly<00:02:31.840> on<00:02:33.200> multi-robot 00:02:33.910 --> 00:02:33.920 align:start position:0% it was mostly on multi-robot 00:02:33.920 --> 00:02:35.670 align:start position:0% it was mostly on multi-robot coordination<00:02:34.480> which<00:02:34.720> turned<00:02:34.959> out<00:02:35.040> to<00:02:35.120> be<00:02:35.280> a 00:02:35.670 --> 00:02:35.680 align:start position:0% coordination which turned out to be a 00:02:35.680 --> 00:02:35.990 align:start position:0% coordination which turned out to be a theme 00:02:35.990 --> 00:02:36.000 align:start position:0% theme 00:02:36.000 --> 00:02:37.430 align:start position:0% theme of<00:02:36.239> the<00:02:36.400> work<00:02:36.640> that<00:02:36.720> i<00:02:36.800> did<00:02:36.959> in<00:02:37.040> graduate 00:02:37.430 --> 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idea<00:02:45.200> is<00:02:45.280> that<00:02:45.519> one<00:02:45.760> robot<00:02:46.239> was<00:02:46.720> trying 00:02:46.949 --> 00:02:46.959 align:start position:0% so the idea is that one robot was trying 00:02:46.959 --> 00:02:48.150 align:start position:0% so the idea is that one robot was trying to<00:02:47.040> do<00:02:47.200> something<00:02:47.599> and<00:02:47.680> these<00:02:47.840> are<00:02:47.920> pretty 00:02:48.150 --> 00:02:48.160 align:start position:0% to do something and these are pretty 00:02:48.160 --> 00:02:50.309 align:start position:0% to do something and these are pretty simple<00:02:48.560> mobile<00:02:48.879> robots<00:02:49.440> so<00:02:49.599> the<00:02:49.920> thing<00:02:50.160> it<00:02:50.239> was 00:02:50.309 --> 00:02:50.319 align:start position:0% simple mobile robots so the thing it was 00:02:50.319 --> 00:02:51.750 align:start position:0% simple mobile robots so the thing it was trying<00:02:50.560> to<00:02:50.640> do<00:02:50.879> was 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then be<00:02:57.200> called<00:02:57.440> off<00:02:57.519> to<00:02:57.599> do<00:02:57.760> something<00:02:58.080> else<00:02:58.319> and 00:02:58.470 --> 00:02:58.480 align:start position:0% be called off to do something else and 00:02:58.480 --> 00:03:00.309 align:start position:0% be called off to do something else and hand<00:02:58.720> off<00:02:58.879> that<00:02:59.040> task<00:02:59.280> to<00:02:59.440> another<00:02:59.680> robot 00:03:00.309 --> 00:03:00.319 align:start position:0% hand off that task to another robot 00:03:00.319 --> 00:03:03.509 align:start position:0% hand off that task to another robot which<00:03:00.480> would<00:03:00.640> come<00:03:00.879> and<00:03:00.959> finish<00:03:01.360> it<00:03:02.720> and<00:03:03.280> but 00:03:03.509 --> 00:03:03.519 align:start position:0% which would come and finish it and but 00:03:03.519 --> 00:03:03.990 align:start position:0% which would come and finish it and but also 00:03:03.990 --> 00:03:04.000 align:start position:0% also 00:03:04.000 --> 00:03:05.750 align:start position:0% also we<00:03:04.400> we<00:03:04.720> did<00:03:04.879> a<00:03:04.959> lot<00:03:05.120> of<00:03:05.200> work<00:03:05.440> on<00:03:05.519> the 00:03:05.750 --> 00:03:05.760 align:start position:0% we we did a lot of work on the 00:03:05.760 --> 00:03:07.270 align:start position:0% we we did a lot of work on the middleware<00:03:06.560> so 00:03:07.270 --> 00:03:07.280 align:start position:0% middleware so 00:03:07.280 --> 00:03:09.270 align:start position:0% middleware so these<00:03:07.519> robots<00:03:08.000> came<00:03:08.319> with<00:03:08.720> not<00:03:08.879> very<00:03:09.120> good 00:03:09.270 --> 00:03:09.280 align:start position:0% these robots came with not very good 00:03:09.280 --> 00:03:11.030 align:start position:0% these robots came with not very good software<00:03:09.680> so<00:03:09.840> we<00:03:10.000> spent<00:03:10.239> quite<00:03:10.400> a<00:03:10.480> lot<00:03:10.640> of<00:03:10.720> time 00:03:11.030 --> 00:03:11.040 align:start position:0% software so we spent quite a lot of time 00:03:11.040 --> 00:03:12.550 align:start position:0% software so we spent quite a lot of time building<00:03:11.360> up<00:03:11.440> the<00:03:11.599> software<00:03:12.000> infrastructure 00:03:12.550 --> 00:03:12.560 align:start position:0% building up the software infrastructure 00:03:12.560 --> 00:03:13.990 align:start position:0% building up the software infrastructure that<00:03:12.720> allowed<00:03:12.959> you<00:03:13.120> to<00:03:13.360> to<00:03:13.519> program<00:03:13.920> the 00:03:13.990 --> 00:03:14.000 align:start position:0% that allowed you to to program the 00:03:14.000 --> 00:03:16.149 align:start position:0% that allowed you to to program the robots<00:03:14.400> to<00:03:14.560> do<00:03:14.800> what<00:03:14.959> you<00:03:15.120> wanted<00:03:15.360> them<00:03:15.440> to<00:03:15.599> do 00:03:16.149 --> 00:03:16.159 align:start position:0% robots to do what you wanted them to do 00:03:16.159 --> 00:03:17.509 align:start position:0% robots to do what you wanted them to do what<00:03:16.319> kind<00:03:16.480> of<00:03:16.560> robots<00:03:16.959> were<00:03:17.120> you<00:03:17.200> working 00:03:17.509 --> 00:03:17.519 align:start position:0% what kind of robots were you working 00:03:17.519 --> 00:03:19.270 align:start position:0% what kind of robots were you working with<00:03:17.920> these<00:03:18.159> were<00:03:18.480> rwi 00:03:19.270 --> 00:03:19.280 align:start position:0% with these were rwi 00:03:19.280 --> 00:03:22.630 align:start position:0% with these were rwi b14s<00:03:20.480> they<00:03:20.720> were<00:03:21.120> trash<00:03:21.440> can<00:03:22.239> wrote 00:03:22.630 --> 00:03:22.640 align:start position:0% b14s they were trash can wrote 00:03:22.640 --> 00:03:24.789 align:start position:0% b14s they were trash can wrote the<00:03:22.959> trashcan<00:03:23.440> robots<00:03:23.760> they<00:03:23.920> stood<00:03:24.560> about 00:03:24.789 --> 00:03:24.799 align:start position:0% the trashcan robots they stood about 00:03:24.799 --> 00:03:27.589 align:start position:0% the trashcan robots they stood about this<00:03:25.040> tall<00:03:25.599> this<00:03:25.760> big<00:03:26.000> around 00:03:27.589 --> 00:03:27.599 align:start position:0% this tall this big around 00:03:27.599 --> 00:03:30.830 align:start position:0% this tall this big around and<00:03:27.760> what<00:03:27.920> year<00:03:28.159> did<00:03:28.319> you<00:03:28.400> finish<00:03:28.799> it<00:03:28.879> tonight 00:03:30.830 --> 00:03:30.840 align:start position:0% and what year did you finish it tonight 00:03:30.840 --> 00:03:33.589 align:start position:0% and what year did you finish it tonight 98. 00:03:33.589 --> 00:03:33.599 align:start position:0% 98. 00:03:33.599 --> 00:03:36.470 align:start position:0% 98. and<00:03:33.920> um<00:03:34.799> so<00:03:35.120> uh<00:03:35.440> what<00:03:35.599> kind<00:03:35.760> of<00:03:35.840> robotics<00:03:36.319> was 00:03:36.470 --> 00:03:36.480 align:start position:0% and um so uh what kind of robotics was 00:03:36.480 --> 00:03:38.789 align:start position:0% and um so uh what kind of robotics was going<00:03:36.720> on<00:03:36.879> at<00:03:36.959> usc<00:03:37.440> when<00:03:37.599> you<00:03:37.760> got<00:03:37.920> there 00:03:38.789 --> 00:03:38.799 align:start position:0% going on at usc when you got there 00:03:38.799 --> 00:03:41.830 align:start position:0% going on at usc when you got there so<00:03:38.959> when<00:03:39.120> i<00:03:39.200> got<00:03:39.360> to<00:03:39.440> usc<00:03:40.319> uh<00:03:40.799> i<00:03:41.120> joined<00:03:41.519> maya 00:03:41.830 --> 00:03:41.840 align:start position:0% so when i got to usc uh i joined maya 00:03:41.840 --> 00:03:43.990 align:start position:0% so when i got to usc uh i joined maya matarix<00:03:42.480> group<00:03:42.799> there 00:03:43.990 --> 00:03:44.000 align:start position:0% matarix group there 00:03:44.000 --> 00:03:46.710 align:start position:0% matarix group there she<00:03:44.400> had<00:03:45.040> recently<00:03:45.599> moved<00:03:45.840> there<00:03:46.159> from<00:03:46.560> from 00:03:46.710 --> 00:03:46.720 align:start position:0% she had recently moved there from from 00:03:46.720 --> 00:03:48.710 align:start position:0% she had recently moved there from from brandeis<00:03:47.440> and<00:03:47.519> before<00:03:47.840> that<00:03:48.000> she<00:03:48.159> was<00:03:48.319> in<00:03:48.400> rod 00:03:48.710 --> 00:03:48.720 align:start position:0% brandeis and before that she was in rod 00:03:48.720 --> 00:03:50.390 align:start position:0% brandeis and before that she was in rod brooks<00:03:48.959> group<00:03:49.200> at<00:03:49.280> mit 00:03:50.390 --> 00:03:50.400 align:start position:0% brooks group at mit 00:03:50.400 --> 00:03:52.789 align:start position:0% brooks group at mit so<00:03:50.640> she<00:03:50.799> was<00:03:51.920> really<00:03:52.159> at<00:03:52.239> the<00:03:52.319> forefront<00:03:52.720> of 00:03:52.789 --> 00:03:52.799 align:start position:0% so she was really at the forefront of 00:03:52.799 --> 00:03:53.589 align:start position:0% so she was really at the forefront of behavior-based 00:03:53.589 --> 00:03:53.599 align:start position:0% behavior-based 00:03:53.599 --> 00:03:57.509 align:start position:0% behavior-based robotics<00:03:55.200> in<00:03:55.360> particular<00:03:56.080> with<00:03:56.400> multi-robot 00:03:57.509 --> 00:03:57.519 align:start position:0% robotics in particular with multi-robot 00:03:57.519 --> 00:04:00.710 align:start position:0% robotics in particular with multi-robot systems<00:03:58.159> so<00:03:58.400> her<00:03:58.959> the<00:03:59.120> focus<00:03:59.439> of<00:03:59.519> her<00:03:59.760> lab<00:04:00.080> was 00:04:00.710 --> 00:04:00.720 align:start position:0% systems so her the focus of her lab was 00:04:00.720 --> 00:04:03.830 align:start position:0% systems so her the focus of her lab was how<00:04:00.879> to<00:04:01.280> program<00:04:01.920> groups<00:04:02.239> of<00:04:02.319> robots<00:04:03.040> to<00:04:03.519> get 00:04:03.830 --> 00:04:03.840 align:start position:0% how to program groups of robots to get 00:04:03.840 --> 00:04:05.910 align:start position:0% how to program groups of robots to get interesting<00:04:04.239> behavior<00:04:05.120> and<00:04:05.360> that<00:04:05.519> was<00:04:05.760> very 00:04:05.910 --> 00:04:05.920 align:start position:0% interesting behavior and that was very 00:04:05.920 --> 00:04:07.190 align:start position:0% interesting behavior and that was very much<00:04:06.159> in<00:04:06.239> line<00:04:06.400> with<00:04:06.560> the<00:04:06.640> kinds<00:04:06.879> of<00:04:06.959> things 00:04:07.190 --> 00:04:07.200 align:start position:0% much in line with the kinds of things 00:04:07.200 --> 00:04:07.750 align:start position:0% much in line with the kinds of things that 00:04:07.750 --> 00:04:07.760 align:start position:0% that 00:04:07.760 --> 00:04:08.869 align:start position:0% that i<00:04:07.920> had<00:04:08.000> been<00:04:08.159> doing<00:04:08.480> and<00:04:08.560> that<00:04:08.640> i<00:04:08.720> was 00:04:08.869 --> 00:04:08.879 align:start position:0% i had been doing and that i was 00:04:08.879 --> 00:04:11.110 align:start position:0% i had been doing and that i was interested<00:04:09.280> in<00:04:10.000> so<00:04:10.560> i 00:04:11.110 --> 00:04:11.120 align:start position:0% interested in so i 00:04:11.120 --> 00:04:14.710 align:start position:0% interested in so i joined<00:04:11.439> up<00:04:11.599> there<00:04:12.239> um<00:04:12.959> at<00:04:13.120> the<00:04:13.200> time<00:04:13.519> she<00:04:13.680> had 00:04:14.710 --> 00:04:14.720 align:start position:0% joined up there um at the time she had 00:04:14.720 --> 00:04:18.390 align:start position:0% joined up there um at the time she had about<00:04:15.840> four<00:04:16.479> of<00:04:17.199> the<00:04:17.519> these<00:04:17.680> robots<00:04:18.079> that<00:04:18.160> were 00:04:18.390 --> 00:04:18.400 align:start position:0% about four of the these robots that were 00:04:18.400 --> 00:04:18.949 align:start position:0% about four of the these robots that were called 00:04:18.949 --> 00:04:18.959 align:start position:0% called 00:04:18.959 --> 00:04:21.670 align:start position:0% called r2s<00:04:20.479> they<00:04:20.639> were<00:04:20.799> the<00:04:20.880> followings<00:04:21.359> they<00:04:21.519> are 00:04:21.670 --> 00:04:21.680 align:start position:0% r2s they were the followings they are 00:04:21.680 --> 00:04:24.310 align:start position:0% r2s they were the followings they are ones<00:04:21.919> that<00:04:22.079> she<00:04:22.240> used<00:04:22.560> in<00:04:22.639> her<00:04:22.880> thesis<00:04:23.199> work 00:04:24.310 --> 00:04:24.320 align:start position:0% ones that she used in her thesis work 00:04:24.320 --> 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align:start position:0% of workhorse mobile robots in<00:04:38.320> our<00:04:38.479> lab<00:04:39.600> were<00:04:39.759> there<00:04:40.080> specific 00:04:40.550 --> 00:04:40.560 align:start position:0% in our lab were there specific 00:04:40.560 --> 00:04:41.990 align:start position:0% in our lab were there specific applications<00:04:41.360> that<00:04:41.680> you 00:04:41.990 --> 00:04:42.000 align:start position:0% applications that you 00:04:42.000 --> 00:04:45.350 align:start position:0% applications that you were<00:04:42.160> interested<00:04:42.639> in<00:04:44.240> well<00:04:44.720> you<00:04:44.800> know<00:04:45.040> in 00:04:45.350 --> 00:04:45.360 align:start position:0% were interested in well you know in 00:04:45.360 --> 00:04:47.909 align:start position:0% were interested in well you know in academia<00:04:46.160> applications<00:04:46.800> are<00:04:47.360> often 00:04:47.909 --> 00:04:47.919 align:start position:0% academia applications are often 00:04:47.919 --> 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align:start position:0% the um in<00:04:56.400> the<00:04:56.639> science<00:04:57.280> of<00:04:57.680> organizing<00:04:58.240> teams<00:04:58.560> of 00:04:58.629 --> 00:04:58.639 align:start position:0% in the science of organizing teams of 00:04:58.639 --> 00:05:00.310 align:start position:0% in the science of organizing teams of robots<00:04:59.280> so 00:05:00.310 --> 00:05:00.320 align:start position:0% robots so 00:05:00.320 --> 00:05:01.430 align:start position:0% robots so and<00:05:00.479> that<00:05:00.560> was<00:05:00.720> something<00:05:00.960> that<00:05:01.120> i<00:05:01.199> always 00:05:01.430 --> 00:05:01.440 align:start position:0% and that was something that i always 00:05:01.440 --> 00:05:03.830 align:start position:0% and that was something that i always struggled<00:05:01.840> with<00:05:02.160> was<00:05:02.880> what's<00:05:03.120> a<00:05:03.199> motivating 00:05:03.830 --> 00:05:03.840 align:start position:0% struggled with was what's a motivating 00:05:03.840 --> 00:05:04.629 align:start position:0% struggled with was what's a motivating application 00:05:04.629 --> 00:05:04.639 align:start position:0% application 00:05:04.639 --> 00:05:06.150 align:start position:0% application if<00:05:04.880> i'm<00:05:05.120> if<00:05:05.280> i'm<00:05:05.360> going<00:05:05.440> to<00:05:05.680> organize<00:05:06.080> this 00:05:06.150 --> 00:05:06.160 align:start position:0% if i'm if i'm going to organize this 00:05:06.160 --> 00:05:07.430 align:start position:0% if i'm if i'm going to organize this group<00:05:06.320> of<00:05:06.400> robots<00:05:06.800> to<00:05:06.880> do<00:05:07.039> something<00:05:07.280> what 00:05:07.430 --> 00:05:07.440 align:start position:0% group of robots to do something what 00:05:07.440 --> 00:05:08.950 align:start position:0% group of robots to do something what should<00:05:07.600> i<00:05:07.680> have<00:05:07.919> them<00:05:08.160> do<00:05:08.400> that 00:05:08.950 --> 00:05:08.960 align:start position:0% should i have them do that 00:05:08.960 --> 00:05:10.870 align:start position:0% should i have them do that actually<00:05:09.280> makes<00:05:09.520> it<00:05:09.600> worthwhile<00:05:10.160> to<00:05:10.479> organize 00:05:10.870 --> 00:05:10.880 align:start position:0% actually makes it worthwhile to organize 00:05:10.880 --> 00:05:12.070 align:start position:0% actually makes it worthwhile to organize them 00:05:12.070 --> 00:05:12.080 align:start position:0% them 00:05:12.080 --> 00:05:14.870 align:start position:0% them we<00:05:12.240> tended<00:05:12.560> to<00:05:12.960> use<00:05:13.280> placeholder<00:05:13.919> tasks<00:05:14.560> so<00:05:14.800> if 00:05:14.870 --> 00:05:14.880 align:start position:0% we tended to use placeholder tasks so if 00:05:14.880 --> 00:05:15.270 align:start position:0% we tended to use placeholder tasks so if the 00:05:15.270 --> 00:05:15.280 align:start position:0% the 00:05:15.280 --> 00:05:18.710 align:start position:0% the you<00:05:15.360> know<00:05:17.520> if<00:05:17.680> i<00:05:17.840> imagine<00:05:18.160> that<00:05:18.240> these<00:05:18.400> robots 00:05:18.710 --> 00:05:18.720 align:start position:0% you know if i imagine that these robots 00:05:18.720 --> 00:05:20.390 align:start position:0% you know if i imagine that these robots might<00:05:18.880> be<00:05:18.960> useful<00:05:19.280> in<00:05:19.360> a<00:05:19.440> warehouse<00:05:19.919> well 00:05:20.390 --> 00:05:20.400 align:start position:0% might be useful in a warehouse well 00:05:20.400 --> 00:05:22.150 align:start position:0% might be useful in a warehouse well i'll<00:05:20.639> have<00:05:20.800> them<00:05:20.960> push<00:05:21.280> a<00:05:21.520> cardboard<00:05:21.919> box 00:05:22.150 --> 00:05:22.160 align:start position:0% i'll have them push a cardboard box 00:05:22.160 --> 00:05:23.909 align:start position:0% i'll have them push a cardboard box across<00:05:22.479> a<00:05:22.560> room<00:05:22.960> and<00:05:23.199> say<00:05:23.440> that<00:05:23.520> that<00:05:23.680> was<00:05:23.840> kind 00:05:23.909 --> 00:05:23.919 align:start position:0% across a room and say that that was kind 00:05:23.919 --> 00:05:25.670 align:start position:0% across a room and say that that was kind of<00:05:24.000> like<00:05:24.160> material<00:05:24.639> handling<00:05:25.120> and 00:05:25.670 --> 00:05:25.680 align:start position:0% of like material handling and 00:05:25.680 --> 00:05:28.070 align:start position:0% of like material handling and or<00:05:26.080> if<00:05:26.240> i<00:05:26.560> imagine<00:05:26.880> a<00:05:26.960> security<00:05:27.440> robot<00:05:27.840> well 00:05:28.070 --> 00:05:28.080 align:start position:0% or if i imagine a security robot well 00:05:28.080 --> 00:05:29.430 align:start position:0% or if i imagine a security robot well i'll<00:05:28.240> have<00:05:28.479> a<00:05:28.560> robot<00:05:28.960> that 00:05:29.430 --> 00:05:29.440 align:start position:0% i'll have a robot that 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position:0% tasks and they have all the same 00:05:35.280 --> 00:05:36.469 align:start position:0% tasks and they have all the same features<00:05:35.759> as 00:05:36.469 --> 00:05:36.479 align:start position:0% features as 00:05:36.479 --> 00:05:38.790 align:start position:0% features as that<00:05:37.440> that<00:05:37.600> task<00:05:37.919> that<00:05:38.000> you<00:05:38.080> think<00:05:38.240> is<00:05:38.400> useful 00:05:38.790 --> 00:05:38.800 align:start position:0% that that task that you think is useful 00:05:38.800 --> 00:05:41.189 align:start position:0% that that task that you think is useful in<00:05:38.880> the<00:05:38.960> future<00:05:39.280> will<00:05:39.440> one<00:05:39.600> day<00:05:39.840> have 00:05:41.189 --> 00:05:41.199 align:start position:0% in the future will one day have 00:05:41.199 --> 00:05:42.629 align:start position:0% in the future will one day have and<00:05:41.280> what<00:05:41.440> were<00:05:41.600> some<00:05:41.759> of<00:05:41.840> the<00:05:41.919> technical<00:05:42.479> and 00:05:42.629 --> 00:05:42.639 align:start position:0% and what were some of the technical and 00:05:42.639 --> 00:05:44.710 align:start position:0% and what were some of the technical and scientific<00:05:43.199> challenges<00:05:43.680> that<00:05:43.759> you<00:05:43.919> were 00:05:44.710 --> 00:05:44.720 align:start position:0% scientific challenges that you were 00:05:44.720 --> 00:05:48.070 align:start position:0% scientific challenges that you were working<00:05:45.120> on<00:05:46.240> in<00:05:46.400> those<00:05:46.639> tasks 00:05:48.070 --> 00:05:48.080 align:start position:0% working on in those tasks 00:05:48.080 --> 00:05:50.469 align:start position:0% working on in those tasks uh<00:05:48.560> you<00:05:48.720> know<00:05:48.960> it<00:05:49.520> they<00:05:49.919> they<00:05:50.080> kind<00:05:50.240> of<00:05:50.320> fell 00:05:50.469 --> 00:05:50.479 align:start position:0% uh you know it they they kind of fell 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position:0% if you're coordinating groups of robots 00:05:58.240 --> 00:06:00.550 align:start position:0% if you're coordinating groups of robots then<00:05:58.720> the<00:05:58.880> biggest<00:05:59.280> issue<00:05:59.520> is<00:05:59.600> scalability 00:06:00.550 --> 00:06:00.560 align:start position:0% then the biggest issue is scalability 00:06:00.560 --> 00:06:03.110 align:start position:0% then the biggest issue is scalability how<00:06:00.720> do<00:06:00.880> you<00:06:02.000> how<00:06:02.160> do<00:06:02.240> you<00:06:02.639> design<00:06:03.039> a 00:06:03.110 --> 00:06:03.120 align:start position:0% how do you how do you design a 00:06:03.120 --> 00:06:04.870 align:start position:0% how do you how do you design a decision-making<00:06:03.840> process 00:06:04.870 --> 00:06:04.880 align:start position:0% decision-making process 00:06:04.880 --> 00:06:07.189 align:start position:0% decision-making process that<00:06:05.199> will<00:06:05.360> get<00:06:05.520> the<00:06:05.600> behavior<00:06:06.080> you<00:06:06.240> want<00:06:06.800> from 00:06:07.189 --> 00:06:07.199 align:start position:0% that will get the behavior you want from 00:06:07.199 --> 00:06:09.510 align:start position:0% that will get the behavior you want from a<00:06:07.280> potentially<00:06:07.840> very<00:06:08.080> large<00:06:08.479> group<00:06:08.639> of<00:06:08.800> robots 00:06:09.510 --> 00:06:09.520 align:start position:0% a potentially very large group of robots 00:06:09.520 --> 00:06:11.670 align:start position:0% a potentially very large group of robots uh<00:06:10.000> in<00:06:10.400> a<00:06:10.479> reasonable<00:06:10.960> amount<00:06:11.120> of<00:06:11.280> time 00:06:11.670 --> 00:06:11.680 align:start position:0% uh in a reasonable amount of time 00:06:11.680 --> 00:06:12.950 align:start position:0% uh in a reasonable amount of time because<00:06:12.000> you<00:06:12.080> know<00:06:12.240> from<00:06:12.400> the<00:06:12.479> start<00:06:12.720> that<00:06:12.880> it 00:06:12.950 --> 00:06:12.960 align:start position:0% because you know from the start that it 00:06:12.960 --> 00:06:14.469 align:start position:0% because you know from the start that it doesn't<00:06:13.199> make<00:06:13.440> sense<00:06:13.680> to<00:06:13.919> take<00:06:14.160> in 00:06:14.469 --> 00:06:14.479 align:start position:0% doesn't make sense to take in 00:06:14.479 --> 00:06:16.070 align:start position:0% doesn't make sense to take in all<00:06:14.880> say<00:06:15.039> that<00:06:15.199> let's<00:06:15.360> say<00:06:15.520> all<00:06:15.600> the<00:06:15.759> sensor 00:06:16.070 --> 00:06:16.080 align:start position:0% all say that let's say all the sensor 00:06:16.080 --> 00:06:17.590 align:start position:0% all say that let's say all the sensor information<00:06:16.479> from<00:06:16.720> all<00:06:16.800> the<00:06:16.880> robots 00:06:17.590 --> 00:06:17.600 align:start position:0% information from all the robots 00:06:17.600 --> 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position:0% for problems of computational 00:06:24.080 --> 00:06:26.070 align:start position:0% for problems of computational limitations<00:06:25.039> and 00:06:26.070 --> 00:06:26.080 align:start position:0% limitations and 00:06:26.080 --> 00:06:27.670 align:start position:0% limitations and communication<00:06:26.639> limitations<00:06:27.199> that<00:06:27.360> you<00:06:27.520> just 00:06:27.670 --> 00:06:27.680 align:start position:0% communication limitations that you just 00:06:27.680 --> 00:06:28.790 align:start position:0% communication limitations that you just know<00:06:27.840> that's<00:06:28.080> not<00:06:28.160> going<00:06:28.319> to<00:06:28.400> work<00:06:28.560> so<00:06:28.720> you 00:06:28.790 --> 00:06:28.800 align:start position:0% know that's not going to work so you 00:06:28.800 --> 00:06:29.670 align:start position:0% know that's not going to work so you have<00:06:28.960> to<00:06:29.039> come<00:06:29.199> up<00:06:29.280> with 00:06:29.670 --> 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doing<00:06:36.240> i 00:06:36.309 --> 00:06:36.319 align:start position:0% scientific part of what i was doing i 00:06:36.319 --> 00:06:38.230 align:start position:0% scientific part of what i was doing i borrowed<00:06:36.639> a<00:06:36.720> lot<00:06:36.880> from<00:06:37.120> operations<00:06:37.759> research 00:06:38.230 --> 00:06:38.240 align:start position:0% borrowed a lot from operations research 00:06:38.240 --> 00:06:39.189 align:start position:0% borrowed a lot from operations research and 00:06:39.189 --> 00:06:39.199 align:start position:0% and 00:06:39.199 --> 00:06:40.790 align:start position:0% and using<00:06:39.440> linear<00:06:39.759> programming<00:06:40.240> techniques<00:06:40.639> sort 00:06:40.790 --> 00:06:40.800 align:start position:0% using linear programming techniques sort 00:06:40.800 --> 00:06:41.909 align:start position:0% using linear programming techniques sort of<00:06:40.880> things<00:06:41.039> that<00:06:41.120> have<00:06:41.199> been<00:06:41.360> around<00:06:41.600> for<00:06:41.759> half 00:06:41.909 --> 00:06:41.919 align:start position:0% of things that have been around for half 00:06:41.919 --> 00:06:43.590 align:start position:0% of things that have been around for half a<00:06:42.000> century<00:06:42.400> in<00:06:42.479> a<00:06:42.560> different<00:06:42.800> context 00:06:43.590 --> 00:06:43.600 align:start position:0% a century in a different context 00:06:43.600 --> 00:06:45.909 align:start position:0% a century in a different context uh<00:06:44.160> they<00:06:44.319> turned<00:06:44.560> out<00:06:44.639> to<00:06:44.800> be<00:06:44.880> useful<00:06:45.520> in<00:06:45.680> these 00:06:45.909 --> 00:06:45.919 align:start position:0% uh they turned out to be useful in these 00:06:45.919 --> 00:06:47.990 align:start position:0% uh they turned out to be useful in these multi-robot<00:06:46.639> problems<00:06:47.039> as<00:06:47.120> well 00:06:47.990 --> 00:06:48.000 align:start position:0% multi-robot problems as well 00:06:48.000 --> 00:06:49.830 align:start position:0% multi-robot problems as well but<00:06:48.160> then<00:06:48.240> there<00:06:48.400> was<00:06:48.560> a<00:06:48.639> whole<00:06:49.199> other<00:06:49.520> set<00:06:49.680> of 00:06:49.830 --> 00:06:49.840 align:start position:0% but then there was a whole other set of 00:06:49.840 --> 00:06:51.189 align:start position:0% but then there was a whole other set of problems<00:06:50.080> which<00:06:50.319> was<00:06:50.479> more<00:06:50.720> on<00:06:50.800> the 00:06:51.189 --> 00:06:51.199 align:start position:0% problems which was more on the 00:06:51.199 --> 00:06:55.270 align:start position:0% problems which was more on the on<00:06:51.360> the<00:06:51.520> technical<00:06:53.039> side<00:06:54.080> which<00:06:54.400> was 00:06:55.270 --> 00:06:55.280 align:start position:0% on the technical side which was 00:06:55.280 --> 00:06:57.029 align:start position:0% on the technical side which was just<00:06:55.520> keeping<00:06:55.840> the<00:06:56.080> robots<00:06:56.560> working<00:06:56.880> and 00:06:57.029 --> 00:06:57.039 align:start position:0% just keeping the robots working and 00:06:57.039 --> 00:06:58.469 align:start position:0% just keeping the robots working and making<00:06:57.360> them<00:06:57.599> programmable 00:06:58.469 --> 00:06:58.479 align:start position:0% making them programmable 00:06:58.479 --> 00:07:00.070 align:start position:0% making them programmable so<00:06:58.639> the<00:06:58.960> robots<00:06:59.360> often<00:06:59.599> arrived<00:06:59.919> with 00:07:00.070 --> 00:07:00.080 align:start position:0% so the robots often arrived with 00:07:00.080 --> 00:07:03.029 align:start position:0% so the robots often arrived with software<00:07:00.400> that<00:07:00.560> was<00:07:01.440> subpar 00:07:03.029 --> 00:07:03.039 align:start position:0% software that was subpar 00:07:03.039 --> 00:07:06.070 align:start position:0% software that was subpar and<00:07:03.919> the<00:07:04.080> hardware<00:07:04.639> was<00:07:05.280> flaky 00:07:06.070 --> 00:07:06.080 align:start position:0% and the hardware was flaky 00:07:06.080 --> 00:07:08.070 align:start position:0% and the hardware was flaky and<00:07:06.319> so<00:07:06.800> a<00:07:06.960> lot<00:07:07.120> of<00:07:07.199> the<00:07:07.440> a<00:07:07.520> lot<00:07:07.680> of<00:07:07.759> the<00:07:07.840> issues 00:07:08.070 --> 00:07:08.080 align:start position:0% and so a lot of the a lot of the issues 00:07:08.080 --> 00:07:09.189 align:start position:0% and so a lot of the a lot of the issues you<00:07:08.240> dealt<00:07:08.400> with<00:07:08.639> were 00:07:09.189 --> 00:07:09.199 align:start position:0% you dealt with were 00:07:09.199 --> 00:07:10.710 align:start position:0% you dealt with were just<00:07:09.360> keeping<00:07:09.680> the<00:07:09.759> robots<00:07:10.160> up<00:07:10.319> and<00:07:10.400> running 00:07:10.710 --> 00:07:10.720 align:start position:0% just keeping the robots up and running 00:07:10.720 --> 00:07:12.390 align:start position:0% just keeping the robots up and running and<00:07:10.800> providing<00:07:11.199> a<00:07:11.280> development<00:07:11.759> environment 00:07:12.390 --> 00:07:12.400 align:start position:0% and providing a development environment 00:07:12.400 --> 00:07:14.870 align:start position:0% and providing a development environment that<00:07:12.880> would<00:07:13.120> be<00:07:14.080> that<00:07:14.240> would<00:07:14.400> allow<00:07:14.560> you<00:07:14.639> to<00:07:14.720> be 00:07:14.870 --> 00:07:14.880 align:start position:0% that would be that would allow you to be 00:07:14.880 --> 00:07:18.629 align:start position:0% that would be that would allow you to be productive 00:07:18.629 --> 00:07:18.639 align:start position:0% 00:07:18.639 --> 00:07:21.670 align:start position:0% so<00:07:18.880> uh<00:07:19.599> what<00:07:19.759> was<00:07:19.919> your<00:07:20.160> thesis<00:07:20.560> work<00:07:20.880> on<00:07:21.520> what 00:07:21.670 --> 00:07:21.680 align:start position:0% so uh what was your thesis work on what 00:07:21.680 --> 00:07:23.189 align:start position:0% so uh what was your thesis work on what was<00:07:21.840> it<00:07:21.919> called 00:07:23.189 --> 00:07:23.199 align:start position:0% was it called 00:07:23.199 --> 00:07:26.469 align:start position:0% was it called my<00:07:23.440> thesis<00:07:23.919> was<00:07:24.160> called<00:07:24.880> uh<00:07:25.440> on<00:07:25.759> multi-robot 00:07:26.469 --> 00:07:26.479 align:start position:0% my thesis was called uh on multi-robot 00:07:26.479 --> 00:07:28.150 align:start position:0% my thesis was called uh on multi-robot task<00:07:26.800> allocation 00:07:28.150 --> 00:07:28.160 align:start position:0% task allocation 00:07:28.160 --> 00:07:30.390 align:start position:0% task allocation i<00:07:28.319> started<00:07:28.639> with<00:07:28.880> on<00:07:29.599> you<00:07:29.680> know<00:07:29.919> felt<00:07:30.160> kind<00:07:30.240> of 00:07:30.390 --> 00:07:30.400 align:start position:0% i started with on you know felt kind of 00:07:30.400 --> 00:07:31.909 align:start position:0% i started with on you know felt kind of old-timey 00:07:31.909 --> 00:07:31.919 align:start position:0% old-timey 00:07:31.919 --> 00:07:34.950 align:start position:0% old-timey uh<00:07:32.400> so<00:07:32.639> the<00:07:32.880> the<00:07:33.759> it<00:07:34.160> started<00:07:34.639> out 00:07:34.950 --> 00:07:34.960 align:start position:0% uh so the the it started out 00:07:34.960 --> 00:07:39.430 align:start position:0% uh so the the it started out as<00:07:36.800> trying<00:07:37.039> to<00:07:37.120> build<00:07:37.680> a<00:07:37.919> system<00:07:38.319> to<00:07:38.479> do 00:07:39.430 --> 00:07:39.440 align:start position:0% as trying to build a system to do 00:07:39.440 --> 00:07:42.150 align:start position:0% as trying to build a system to do task<00:07:39.759> allocation<00:07:40.160> for<00:07:40.319> robots<00:07:41.120> as<00:07:41.280> a<00:07:41.759> as<00:07:41.919> a<00:07:42.000> way 00:07:42.150 --> 00:07:42.160 align:start position:0% task allocation for robots as a as a way 00:07:42.160 --> 00:07:43.430 align:start position:0% task allocation for robots as a as a way of<00:07:42.240> getting<00:07:42.479> them<00:07:42.720> getting<00:07:42.960> robust<00:07:43.360> to 00:07:43.430 --> 00:07:43.440 align:start position:0% of getting them getting robust to 00:07:43.440 --> 00:07:43.990 align:start position:0% of getting them getting robust to coordinate 00:07:43.990 --> 00:07:44.000 align:start position:0% coordinate 00:07:44.000 --> 00:07:45.830 align:start position:0% coordinate so<00:07:44.479> i<00:07:44.560> have<00:07:44.720> a<00:07:44.800> bunch<00:07:45.039> of<00:07:45.120> things<00:07:45.360> that<00:07:45.440> i<00:07:45.599> want 00:07:45.830 --> 00:07:45.840 align:start position:0% so i have a bunch of things that i want 00:07:45.840 --> 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up<00:07:52.720> building<00:07:53.520> one<00:07:53.759> or<00:07:53.919> two<00:07:54.080> such 00:07:54.309 --> 00:07:54.319 align:start position:0% i ended up building one or two such 00:07:54.319 --> 00:07:55.110 align:start position:0% i ended up building one or two such systems 00:07:55.110 --> 00:07:55.120 align:start position:0% systems 00:07:55.120 --> 00:07:59.189 align:start position:0% systems and<00:07:56.080> then<00:07:56.319> i<00:07:57.360> had<00:07:58.000> an<00:07:58.160> epiphany<00:07:58.639> one<00:07:58.800> day<00:07:59.039> when 00:07:59.189 --> 00:07:59.199 align:start position:0% and then i had an epiphany one day when 00:07:59.199 --> 00:07:59.990 align:start position:0% and then i had an epiphany one day when i 00:07:59.990 --> 00:08:00.000 align:start position:0% i 00:08:00.000 --> 00:08:02.309 align:start position:0% i i<00:08:00.240> was<00:08:00.720> i<00:08:00.800> had<00:08:01.039> just<00:08:01.199> produced<00:08:01.599> a<00:08:01.680> video<00:08:02.080> of<00:08:02.160> my 00:08:02.309 --> 00:08:02.319 align:start position:0% i was i had just produced a video of my 00:08:02.319 --> 00:08:03.029 align:start position:0% i was i had just produced a video of my robots 00:08:03.029 --> 00:08:03.039 align:start position:0% robots 00:08:03.039 --> 00:08:05.270 align:start position:0% robots collaboratively<00:08:04.160> pushing<00:08:04.479> a<00:08:04.560> box<00:08:04.800> across<00:08:05.120> the 00:08:05.270 --> 00:08:05.280 align:start position:0% collaboratively pushing a box across the 00:08:05.280 --> 00:08:06.230 align:start position:0% collaboratively pushing a box across the room<00:08:05.520> and<00:08:05.599> it 00:08:06.230 --> 00:08:06.240 align:start position:0% room and it 00:08:06.240 --> 00:08:07.510 align:start position:0% room and it there<00:08:06.400> was<00:08:06.479> this<00:08:06.639> particular<00:08:07.120> sequence<00:08:07.440> where 00:08:07.510 --> 00:08:07.520 align:start position:0% there was this particular sequence where 00:08:07.520 --> 00:08:09.909 align:start position:0% there was this particular sequence where i<00:08:07.599> wanted<00:08:07.840> to<00:08:07.919> show<00:08:08.160> fault<00:08:08.400> tolerance<00:08:09.039> so 00:08:09.909 --> 00:08:09.919 align:start position:0% i wanted to show fault tolerance so 00:08:09.919 --> 00:08:11.670 align:start position:0% i wanted to show fault tolerance so the<00:08:10.080> two<00:08:10.240> robots<00:08:10.639> were<00:08:10.720> pushing<00:08:10.960> this<00:08:11.120> box<00:08:11.520> and 00:08:11.670 --> 00:08:11.680 align:start position:0% the two robots were pushing this box and 00:08:11.680 --> 00:08:13.670 align:start position:0% the two robots were pushing this box and i<00:08:11.919> and<00:08:12.000> i<00:08:12.240> run<00:08:12.400> into<00:08:12.560> the<00:08:12.639> video<00:08:13.039> and<00:08:13.440> i<00:08:13.520> pick<00:08:13.680> a 00:08:13.670 --> 00:08:13.680 align:start position:0% i and i run into the video and i pick a 00:08:13.680 --> 00:08:15.110 align:start position:0% i and i run into the video and i pick a robot<00:08:14.000> up<00:08:14.160> and<00:08:14.240> take<00:08:14.400> it<00:08:14.560> out 00:08:15.110 --> 00:08:15.120 align:start position:0% robot up and take it out 00:08:15.120 --> 00:08:17.749 align:start position:0% robot up and take it out and<00:08:15.280> then<00:08:16.160> the<00:08:16.319> other<00:08:16.479> robot<00:08:16.879> realizes<00:08:17.440> that 00:08:17.749 --> 00:08:17.759 align:start position:0% and then the other robot realizes that 00:08:17.759 --> 00:08:19.270 align:start position:0% and then the other robot realizes that and<00:08:18.000> and<00:08:18.160> automatically<00:08:18.639> takes<00:08:18.879> over<00:08:19.039> so<00:08:19.199> it 00:08:19.270 --> 00:08:19.280 align:start position:0% and and automatically takes over so it 00:08:19.280 --> 00:08:20.390 align:start position:0% and and automatically takes over so it starts<00:08:19.520> pushing<00:08:19.840> the<00:08:19.840> right<00:08:20.000> side<00:08:20.160> then<00:08:20.319> the 00:08:20.390 --> 00:08:20.400 align:start position:0% starts pushing the right side then the 00:08:20.400 --> 00:08:21.670 align:start position:0% starts pushing the right side then the left<00:08:20.560> side<00:08:20.720> it<00:08:20.800> does<00:08:20.960> it<00:08:21.039> by<00:08:21.199> itself<00:08:21.520> and<00:08:21.599> then 00:08:21.670 --> 00:08:21.680 align:start position:0% left side it does it by itself and then 00:08:21.680 --> 00:08:22.869 align:start position:0% left side it does it by itself and then i<00:08:21.759> can<00:08:21.840> bring<00:08:21.919> another<00:08:22.160> robot<00:08:22.479> and<00:08:22.560> i<00:08:22.639> can<00:08:22.720> put 00:08:22.869 --> 00:08:22.879 align:start position:0% i can bring another robot and i can put 00:08:22.879 --> 00:08:23.510 align:start position:0% i can bring another robot and i can put it<00:08:23.039> back 00:08:23.510 --> 00:08:23.520 align:start position:0% it back 00:08:23.520 --> 00:08:25.029 align:start position:0% it back and<00:08:23.599> then<00:08:23.759> they<00:08:24.080> act<00:08:24.240> as<00:08:24.319> a<00:08:24.400> team<00:08:24.639> again<00:08:24.960> i 00:08:25.029 --> 00:08:25.039 align:start position:0% and then they act as a team again i 00:08:25.039 --> 00:08:26.629 align:start position:0% and then they act as a team again i thought<00:08:25.199> that<00:08:25.360> was<00:08:25.520> really<00:08:25.759> cool 00:08:26.629 --> 00:08:26.639 align:start position:0% thought that was really cool 00:08:26.639 --> 00:08:30.309 align:start position:0% thought that was really cool this<00:08:26.879> was<00:08:27.039> in<00:08:27.199> 2001<00:08:28.879> and<00:08:29.039> then 00:08:30.309 --> 00:08:30.319 align:start position:0% this was in 2001 and then 00:08:30.319 --> 00:08:32.709 align:start position:0% this was in 2001 and then not<00:08:30.479> long<00:08:30.800> after<00:08:31.039> that<00:08:31.280> i<00:08:31.440> found<00:08:31.599> a<00:08:31.680> video<00:08:32.159> from 00:08:32.709 --> 00:08:32.719 align:start position:0% not long after that i found a video from 00:08:32.719 --> 00:08:34.709 align:start position:0% not long after that i found a video from lynn<00:08:33.039> parker's<00:08:33.599> thesis<00:08:34.000> work<00:08:34.240> with<00:08:34.399> again 00:08:34.709 --> 00:08:34.719 align:start position:0% lynn parker's thesis work with again 00:08:34.719 --> 00:08:36.630 align:start position:0% lynn parker's thesis work with again with<00:08:34.880> rod<00:08:35.120> brooks<00:08:35.360> at<00:08:35.440> mit 00:08:36.630 --> 00:08:36.640 align:start position:0% with rod brooks at mit 00:08:36.640 --> 00:08:39.750 align:start position:0% with rod brooks at mit from<00:08:36.800> 1994<00:08:38.320> in<00:08:38.399> which<00:08:39.039> her<00:08:39.200> robots<00:08:39.519> did 00:08:39.750 --> 00:08:39.760 align:start position:0% from 1994 in which her robots did 00:08:39.760 --> 00:08:40.870 align:start position:0% from 1994 in which her robots did exactly<00:08:40.159> the<00:08:40.240> same<00:08:40.479> thing 00:08:40.870 --> 00:08:40.880 align:start position:0% exactly the same thing 00:08:40.880 --> 00:08:42.310 align:start position:0% exactly the same thing she<00:08:41.039> had<00:08:41.200> two<00:08:41.360> robots<00:08:41.599> pushing<00:08:41.839> a<00:08:41.919> box<00:08:42.159> she 00:08:42.310 --> 00:08:42.320 align:start position:0% she had two robots pushing a box she 00:08:42.320 --> 00:08:43.990 align:start position:0% she had two robots pushing a box she came<00:08:42.560> in<00:08:42.719> picked<00:08:42.959> one<00:08:43.120> up<00:08:43.279> took<00:08:43.440> it<00:08:43.599> out 00:08:43.990 --> 00:08:44.000 align:start position:0% came in picked one up took it out 00:08:44.000 --> 00:08:45.269 align:start position:0% came in picked one up took it out and<00:08:44.080> then<00:08:44.240> put<00:08:44.399> it<00:08:44.560> actually<00:08:44.800> put<00:08:44.959> a<00:08:45.040> different 00:08:45.269 --> 00:08:45.279 align:start position:0% and then put it actually put a different 00:08:45.279 --> 00:08:47.350 align:start position:0% and then put it actually put a different kind<00:08:45.519> of<00:08:45.600> robot<00:08:45.920> back<00:08:46.160> in 00:08:47.350 --> 00:08:47.360 align:start position:0% kind of robot back in 00:08:47.360 --> 00:08:49.030 align:start position:0% kind of robot back in and<00:08:47.519> i<00:08:47.680> said<00:08:47.839> well<00:08:48.080> you<00:08:48.160> know<00:08:48.320> it's<00:08:48.480> been<00:08:48.720> seven 00:08:49.030 --> 00:08:49.040 align:start position:0% and i said well you know it's been seven 00:08:49.040 --> 00:08:51.269 align:start position:0% and i said well you know it's been seven years<00:08:49.839> what<00:08:50.000> did<00:08:50.160> we<00:08:50.399> learn 00:08:51.269 --> 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at<00:09:01.680> the 00:09:01.910 --> 00:09:01.920 align:start position:0% understand well what's really at the 00:09:01.920 --> 00:09:02.870 align:start position:0% understand well what's really at the core<00:09:02.399> of 00:09:02.870 --> 00:09:02.880 align:start position:0% core of 00:09:02.880 --> 00:09:04.710 align:start position:0% core of her<00:09:03.120> approach<00:09:03.519> versus<00:09:03.839> my<00:09:04.000> approach<00:09:04.399> not<00:09:04.560> the 00:09:04.710 --> 00:09:04.720 align:start position:0% her approach versus my approach not the 00:09:04.720 --> 00:09:07.030 align:start position:0% her approach versus my approach not the details<00:09:05.200> of<00:09:05.440> the<00:09:05.680> systems<00:09:06.160> that<00:09:06.320> we<00:09:06.480> built 00:09:07.030 --> 00:09:07.040 align:start position:0% details of the systems that we built 00:09:07.040 --> 00:09:08.710 align:start position:0% details of the systems that we built we<00:09:07.200> could<00:09:07.360> try<00:09:07.519> to<00:09:07.600> compare<00:09:07.839> the<00:09:08.000> code<00:09:08.399> or<00:09:08.560> the 00:09:08.710 --> 00:09:08.720 align:start position:0% we could try to compare the code or the 00:09:08.720 --> 00:09:10.070 align:start position:0% we could try to compare the code or the robots<00:09:09.120> but<00:09:09.200> that's<00:09:09.440> not<00:09:09.519> really<00:09:09.680> meaningful 00:09:10.070 --> 00:09:10.080 align:start position:0% robots but that's not really meaningful 00:09:10.080 --> 00:09:11.030 align:start position:0% robots but that's not really meaningful what's<00:09:10.320> really<00:09:10.560> at<00:09:10.640> the 00:09:11.030 --> 00:09:11.040 align:start position:0% what's really at the 00:09:11.040 --> 00:09:13.269 align:start position:0% what's really at the at<00:09:11.279> the<00:09:11.440> core<00:09:11.760> of<00:09:11.839> the<00:09:11.920> two<00:09:12.160> approaches<00:09:13.120> and 00:09:13.269 --> 00:09:13.279 align:start position:0% at the core of the two approaches and 00:09:13.279 --> 00:09:14.710 align:start position:0% at the core of the two approaches and that's<00:09:13.519> where<00:09:13.680> the<00:09:13.760> operations<00:09:14.320> research 00:09:14.710 --> 00:09:14.720 align:start position:0% that's where the operations research 00:09:14.720 --> 00:09:15.350 align:start position:0% that's where the operations research literature 00:09:15.350 --> 00:09:15.360 align:start position:0% literature 00:09:15.360 --> 00:09:18.389 align:start position:0% literature turned<00:09:15.680> out<00:09:15.760> to<00:09:15.920> be<00:09:16.320> very<00:09:16.640> helpful<00:09:17.200> um<00:09:18.080> and<00:09:18.240> i 00:09:18.389 --> 00:09:18.399 align:start position:0% turned out to be very helpful um and i 00:09:18.399 --> 00:09:20.470 align:start position:0% turned out to be very helpful um and i owe<00:09:18.640> a<00:09:19.360> lot<00:09:19.600> to 00:09:20.470 --> 00:09:20.480 align:start position:0% owe a lot to 00:09:20.480 --> 00:09:22.710 align:start position:0% owe a lot to mike<00:09:20.720> wellman<00:09:21.200> who's<00:09:21.440> a<00:09:21.600> professor<00:09:22.160> at 00:09:22.710 --> 00:09:22.720 align:start position:0% mike wellman who's a professor at 00:09:22.720 --> 00:09:24.150 align:start position:0% mike wellman who's a professor at university<00:09:23.200> of<00:09:23.279> michigan 00:09:24.150 --> 00:09:24.160 align:start position:0% university of michigan 00:09:24.160 --> 00:09:27.190 align:start position:0% university of michigan who<00:09:24.399> was<00:09:24.560> on<00:09:24.720> my<00:09:25.440> thesis 00:09:27.190 --> 00:09:27.200 align:start position:0% who was on my thesis 00:09:27.200 --> 00:09:29.509 align:start position:0% who was on my thesis proposal<00:09:27.680> defense<00:09:28.080> committee<00:09:28.560> who<00:09:29.120> who<00:09:29.360> put 00:09:29.509 --> 00:09:29.519 align:start position:0% proposal defense committee who who put 00:09:29.519 --> 00:09:30.550 align:start position:0% proposal defense committee who who put me<00:09:29.680> on<00:09:29.839> to<00:09:30.000> the 00:09:30.550 --> 00:09:30.560 align:start position:0% me on to the 00:09:30.560 --> 00:09:32.389 align:start position:0% me on to the fact<00:09:30.720> that<00:09:30.880> i<00:09:30.959> was<00:09:31.120> really<00:09:31.839> what<00:09:32.000> i<00:09:32.080> was<00:09:32.240> really 00:09:32.389 --> 00:09:32.399 align:start position:0% fact that i was really what i was really 00:09:32.399 --> 00:09:34.389 align:start position:0% fact that i was really what i was really looking<00:09:32.720> at<00:09:32.880> was<00:09:33.040> a<00:09:33.120> well-studied<00:09:33.760> problem 00:09:34.389 --> 00:09:34.399 align:start position:0% looking at was a well-studied problem 00:09:34.399 --> 00:09:37.030 align:start position:0% looking at was a well-studied problem in<00:09:34.560> the<00:09:34.959> the<00:09:35.040> or<00:09:35.440> community<00:09:36.480> and<00:09:36.720> that<00:09:36.880> there 00:09:37.030 --> 00:09:37.040 align:start position:0% in the the or community and that there 00:09:37.040 --> 00:09:39.030 align:start position:0% in the the or community and that there were<00:09:37.279> these<00:09:37.519> well<00:09:37.760> understood<00:09:38.160> ways<00:09:38.560> of 00:09:39.030 --> 00:09:39.040 align:start position:0% were these well understood ways of 00:09:39.040 --> 00:09:41.190 align:start position:0% were these well understood ways of of<00:09:39.360> looking<00:09:39.760> at<00:09:39.920> these<00:09:40.240> problems<00:09:40.959> and 00:09:41.190 --> 00:09:41.200 align:start position:0% of looking at these problems and 00:09:41.200 --> 00:09:43.030 align:start position:0% of looking at these problems and characterizing<00:09:42.000> solutions<00:09:42.399> to<00:09:42.640> them<00:09:42.880> and 00:09:43.030 --> 00:09:43.040 align:start position:0% characterizing solutions to them and 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well<00:09:49.120> it 00:09:49.190 --> 00:09:49.200 align:start position:0% up with a framework where i said well it 00:09:49.200 --> 00:09:50.630 align:start position:0% up with a framework where i said well it turns<00:09:49.519> out<00:09:49.600> that<00:09:49.760> my<00:09:49.920> approach<00:09:50.240> and<00:09:50.399> lin's 00:09:50.630 --> 00:09:50.640 align:start position:0% turns out that my approach and lin's 00:09:50.640 --> 00:09:51.829 align:start position:0% turns out that my approach and lin's approach<00:09:51.040> were<00:09:51.200> actually 00:09:51.829 --> 00:09:51.839 align:start position:0% approach were actually 00:09:51.839 --> 00:09:53.590 align:start position:0% approach were actually equivalent<00:09:52.399> in<00:09:52.560> a<00:09:52.640> certain<00:09:52.959> way<00:09:53.200> and<00:09:53.360> and<00:09:53.519> you 00:09:53.590 --> 00:09:53.600 align:start position:0% equivalent in a certain way and and you 00:09:53.600 --> 00:09:54.949 align:start position:0% equivalent in a certain way and and you could<00:09:53.760> say<00:09:53.920> things<00:09:54.160> about<00:09:54.320> the<00:09:54.480> performance 00:09:54.949 --> 00:09:54.959 align:start position:0% could say things about the performance 00:09:54.959 --> 00:09:56.710 align:start position:0% could say things about the performance of<00:09:55.040> them<00:09:55.200> and<00:09:55.279> so<00:09:55.440> on<00:09:55.680> so<00:09:55.839> that 00:09:56.710 --> 00:09:56.720 align:start position:0% of them and so on so that 00:09:56.720 --> 00:09:59.350 align:start position:0% of them and so on so that all<00:09:56.959> together<00:09:57.279> was<00:09:57.440> the<00:09:57.600> thesis<00:09:58.800> and<00:09:58.959> how<00:09:59.120> did 00:09:59.350 --> 00:09:59.360 align:start position:0% all together was the thesis and how did 00:09:59.360 --> 00:09:59.750 align:start position:0% all together was the thesis and how did you 00:09:59.750 --> 00:09:59.760 align:start position:0% you 00:09:59.760 --> 00:10:03.190 align:start position:0% you get<00:10:00.000> in<00:10:00.240> touch<00:10:00.480> with<00:10:00.720> professor<00:10:01.120> involvement 00:10:03.190 --> 00:10:03.200 align:start position:0% get in touch with professor involvement 00:10:03.200 --> 00:10:04.630 align:start position:0% get in touch with professor involvement how<00:10:03.360> did<00:10:03.519> i<00:10:03.600> get<00:10:03.760> in<00:10:03.839> touch<00:10:04.079> with<00:10:04.240> professor 00:10:04.630 --> 00:10:04.640 align:start position:0% how did i get in touch with professor 00:10:04.640 --> 00:10:07.430 align:start position:0% how did i get in touch with professor wellman<00:10:05.120> um<00:10:05.760> i<00:10:05.920> had<00:10:06.079> been<00:10:06.240> reading<00:10:06.480> his<00:10:06.640> papers 00:10:07.430 --> 00:10:07.440 align:start position:0% wellman um i had been reading his papers 00:10:07.440 --> 00:10:10.630 align:start position:0% wellman um i had been reading his papers uh<00:10:08.000> he's<00:10:08.160> a<00:10:08.240> computer<00:10:08.560> scientist<00:10:09.200> uh<00:10:09.839> but<00:10:10.240> and 00:10:10.630 --> 00:10:10.640 align:start position:0% uh he's a computer scientist uh but and 00:10:10.640 --> 00:10:11.430 align:start position:0% uh he's a computer scientist uh but and verges<00:10:11.040> into 00:10:11.430 --> 00:10:11.440 align:start position:0% verges into 00:10:11.440 --> 00:10:13.670 align:start position:0% verges into into<00:10:11.680> economics<00:10:12.560> uh<00:10:12.880> so<00:10:13.120> i<00:10:13.279> i<00:10:13.440> just<00:10:13.519> been 00:10:13.670 --> 00:10:13.680 align:start position:0% into economics uh so i i just been 00:10:13.680 --> 00:10:14.949 align:start position:0% into economics uh so i i just been reading<00:10:13.920> his<00:10:14.079> papers<00:10:14.480> and 00:10:14.949 --> 00:10:14.959 align:start position:0% reading his papers and 00:10:14.959 --> 00:10:16.310 align:start position:0% reading his papers and when<00:10:15.120> it<00:10:15.200> came<00:10:15.440> time<00:10:15.600> to<00:10:15.680> put<00:10:15.839> together<00:10:16.240> a 00:10:16.310 --> 00:10:16.320 align:start position:0% when it came time to put together a 00:10:16.320 --> 00:10:18.069 align:start position:0% when it came time to put together a committee<00:10:16.880> to 00:10:18.069 --> 00:10:18.079 align:start position:0% committee to 00:10:18.079 --> 00:10:19.990 align:start position:0% committee to you<00:10:18.160> know<00:10:18.320> give<00:10:18.480> me<00:10:18.640> advice<00:10:18.959> on<00:10:19.120> the<00:10:19.360> thesis 00:10:19.990 --> 00:10:20.000 align:start position:0% you know give me advice on the thesis 00:10:20.000 --> 00:10:21.829 align:start position:0% you know give me advice on the thesis idea<00:10:20.320> that<00:10:20.399> i<00:10:20.560> was<00:10:20.640> proposing<00:10:21.200> i<00:10:21.440> got<00:10:21.600> in<00:10:21.680> touch 00:10:21.829 --> 00:10:21.839 align:start position:0% idea that i was proposing i got in touch 00:10:21.839 --> 00:10:23.590 align:start position:0% idea that i was proposing i got in touch with<00:10:22.000> him<00:10:22.079> by<00:10:22.240> email<00:10:22.640> and<00:10:22.800> he<00:10:22.959> said<00:10:23.200> yeah<00:10:23.440> i'll 00:10:23.590 --> 00:10:23.600 align:start position:0% with him by email and he said yeah i'll 00:10:23.600 --> 00:10:24.710 align:start position:0% with him by email and he said yeah i'll help<00:10:23.839> out 00:10:24.710 --> 00:10:24.720 align:start position:0% help out 00:10:24.720 --> 00:10:27.910 align:start position:0% help out your<00:10:24.880> new<00:10:25.040> house<00:10:25.279> was<00:10:25.440> on<00:10:25.600> your<00:10:25.760> committee<00:10:27.680> on 00:10:27.910 --> 00:10:27.920 align:start position:0% your new house was on your committee on 00:10:27.920 --> 00:10:29.110 align:start position:0% your new house was on your committee on my 00:10:29.110 --> 00:10:29.120 align:start position:0% my 00:10:29.120 --> 00:10:30.870 align:start position:0% my proposal<00:10:29.760> committee<00:10:30.160> it<00:10:30.240> was<00:10:30.399> of<00:10:30.480> course<00:10:30.720> my 00:10:30.870 --> 00:10:30.880 align:start position:0% proposal committee it was of course my 00:10:30.880 --> 00:10:32.150 align:start position:0% proposal committee it was of course my advisor<00:10:31.360> maya 00:10:32.150 --> 00:10:32.160 align:start position:0% advisor maya 00:10:32.160 --> 00:10:35.269 align:start position:0% advisor maya garofsa<00:10:32.720> katmay<00:10:33.920> also<00:10:34.240> at<00:10:34.320> usc 00:10:35.269 --> 00:10:35.279 align:start position:0% garofsa katmay also at usc 00:10:35.279 --> 00:10:38.389 align:start position:0% garofsa katmay also at usc um<00:10:37.040> deborah<00:10:37.360> estrin<00:10:37.920> from 00:10:38.389 --> 00:10:38.399 align:start position:0% um deborah estrin from 00:10:38.399 --> 00:10:40.470 align:start position:0% um deborah estrin from who<00:10:38.560> had<00:10:38.720> just<00:10:38.959> moved<00:10:39.120> from<00:10:39.279> usc<00:10:39.680> to<00:10:39.760> ucla<00:10:40.399> she 00:10:40.470 --> 00:10:40.480 align:start position:0% who had just moved from usc to ucla she 00:10:40.480 --> 00:10:42.150 align:start position:0% who had just moved from usc to ucla she does<00:10:40.640> a<00:10:40.640> lot<00:10:40.800> of<00:10:40.880> work<00:10:41.120> in<00:10:41.360> in<00:10:41.519> networking<00:10:42.000> and 00:10:42.150 --> 00:10:42.160 align:start position:0% does a lot of work in in networking and 00:10:42.160 --> 00:10:43.670 align:start position:0% does a lot of work in in networking and embedded<00:10:42.480> systems 00:10:43.670 --> 00:10:43.680 align:start position:0% embedded systems 00:10:43.680 --> 00:10:46.150 align:start position:0% embedded systems and<00:10:44.399> milan<00:10:44.720> tombe<00:10:45.200> who<00:10:45.440> does<00:10:45.600> multi-agent 00:10:46.150 --> 00:10:46.160 align:start position:0% and milan tombe who does multi-agent 00:10:46.160 --> 00:10:49.670 align:start position:0% and milan tombe who does multi-agent systems<00:10:46.480> work<00:10:46.720> at<00:10:46.800> usc<00:10:47.279> and<00:10:47.440> isi 00:10:49.670 --> 00:10:49.680 align:start position:0% systems work at usc and isi 00:10:49.680 --> 00:10:51.670 align:start position:0% systems work at usc and isi so<00:10:49.839> earlier<00:10:50.399> you<00:10:50.560> said<00:10:50.800> you<00:10:50.880> were<00:10:51.279> eager<00:10:51.600> to 00:10:51.670 --> 00:10:51.680 align:start position:0% so earlier you said you were eager to 00:10:51.680 --> 00:10:53.590 align:start position:0% so earlier you said you were eager to get<00:10:51.760> to<00:10:51.920> stay<00:10:52.079> in<00:10:52.240> academia<00:10:53.040> but<00:10:53.279> um 00:10:53.590 --> 00:10:53.600 align:start position:0% get to stay in academia but um 00:10:53.600 --> 00:10:55.509 align:start position:0% get to stay in academia but um how<00:10:53.760> did<00:10:53.920> you<00:10:54.079> wind<00:10:54.399> up<00:10:54.720> working<00:10:55.040> in<00:10:55.120> a<00:10:55.200> private 00:10:55.509 --> 00:10:55.519 align:start position:0% how did you wind up working in a private 00:10:55.519 --> 00:10:57.030 align:start position:0% how did you wind up working in a private company 00:10:57.030 --> 00:10:57.040 align:start position:0% company 00:10:57.040 --> 00:11:00.230 align:start position:0% company that's<00:10:57.519> uh<00:10:57.920> that's<00:10:58.160> a<00:10:58.240> good<00:10:58.480> question<00:10:58.880> uh<00:10:59.279> so 00:11:00.230 --> 00:11:00.240 align:start position:0% that's uh that's a good question uh so 00:11:00.240 --> 00:11:02.470 align:start position:0% that's uh that's a good question uh so i<00:11:00.720> so<00:11:01.040> from<00:11:01.360> from<00:11:01.519> grad<00:11:01.760> school<00:11:02.079> i<00:11:02.160> went<00:11:02.320> on<00:11:02.399> to 00:11:02.470 --> 00:11:02.480 align:start position:0% i so from from grad school i went on to 00:11:02.480 --> 00:11:04.069 align:start position:0% i so from from grad school i went on to do<00:11:02.640> a<00:11:02.959> postdoc<00:11:03.440> because<00:11:03.600> that's<00:11:03.760> what<00:11:03.839> you<00:11:04.000> do 00:11:04.069 --> 00:11:04.079 align:start position:0% do a postdoc because that's what you do 00:11:04.079 --> 00:11:05.190 align:start position:0% do a postdoc because that's what you do after<00:11:04.320> grad<00:11:04.480> school 00:11:05.190 --> 00:11:05.200 align:start position:0% after grad school 00:11:05.200 --> 00:11:07.430 align:start position:0% after grad school um<00:11:05.680> and<00:11:05.760> i<00:11:06.079> worked<00:11:06.240> with<00:11:06.399> sebastian<00:11:06.880> throne<00:11:07.200> at 00:11:07.430 --> 00:11:07.440 align:start position:0% um and i worked with sebastian throne at 00:11:07.440 --> 00:11:09.269 align:start position:0% um and i worked with sebastian throne at stanford<00:11:07.839> for<00:11:08.000> a<00:11:08.000> couple<00:11:08.320> years 00:11:09.269 --> 00:11:09.279 align:start position:0% stanford for a couple years 00:11:09.279 --> 00:11:11.350 align:start position:0% stanford for a couple years and<00:11:09.360> then<00:11:09.760> from<00:11:09.920> there<00:11:10.079> i<00:11:10.160> went<00:11:10.320> to<00:11:10.480> sri<00:11:11.120> which 00:11:11.350 --> 00:11:11.360 align:start position:0% and then from there i went to sri which 00:11:11.360 --> 00:11:13.829 align:start position:0% and then from there i went to sri which is<00:11:11.440> just<00:11:11.680> around<00:11:11.920> the<00:11:12.000> corner<00:11:12.240> from<00:11:12.480> here 00:11:13.829 --> 00:11:13.839 align:start position:0% is just around the corner from here 00:11:13.839 --> 00:11:15.829 align:start position:0% is just around the corner from here and<00:11:14.079> did<00:11:14.320> research<00:11:14.720> there<00:11:15.040> for<00:11:15.360> about<00:11:15.519> two<00:11:15.760> and 00:11:15.829 --> 00:11:15.839 align:start position:0% and did research there for about two and 00:11:15.839 --> 00:11:17.110 align:start position:0% and did research there for about two and a half<00:11:16.079> years<00:11:16.399> and 00:11:17.110 --> 00:11:17.120 align:start position:0% a half years and 00:11:17.120 --> 00:11:20.470 align:start position:0% a half years and um<00:11:18.800> and<00:11:18.880> then<00:11:19.279> near<00:11:19.519> the<00:11:19.600> end<00:11:19.680> of<00:11:19.760> that<00:11:20.000> time 00:11:20.470 --> 00:11:20.480 align:start position:0% um and then near the end of that time 00:11:20.480 --> 00:11:23.590 align:start position:0% um and then near the end of that time uh<00:11:20.880> eric<00:11:21.200> berger<00:11:21.680> who's<00:11:22.000> a<00:11:22.399> student<00:11:22.720> at<00:11:23.040> uh 00:11:23.590 --> 00:11:23.600 align:start position:0% uh eric berger who's a student at uh 00:11:23.600 --> 00:11:25.350 align:start position:0% uh eric berger who's a student at uh stanford<00:11:24.079> at<00:11:24.240> ken<00:11:24.399> salisbury's<00:11:24.959> group<00:11:25.200> and 00:11:25.350 --> 00:11:25.360 align:start position:0% stanford at ken salisbury's group and 00:11:25.360 --> 00:11:27.990 align:start position:0% stanford at ken salisbury's group and had<00:11:25.600> been<00:11:25.760> a<00:11:25.839> co-designer<00:11:26.399> on<00:11:26.480> the<00:11:26.839> pr1 00:11:27.990 --> 00:11:28.000 align:start position:0% had been a co-designer on the pr1 00:11:28.000 --> 00:11:30.870 align:start position:0% had been a co-designer on the pr1 um<00:11:28.880> came<00:11:29.120> by<00:11:29.279> to<00:11:29.680> chat<00:11:29.920> one<00:11:30.079> day<00:11:30.320> when<00:11:30.480> i<00:11:30.560> was<00:11:30.720> at 00:11:30.870 --> 00:11:30.880 align:start position:0% um came by to chat one day when i was at 00:11:30.880 --> 00:11:31.670 align:start position:0% um came by to chat one day when i was at sri 00:11:31.670 --> 00:11:31.680 align:start position:0% sri 00:11:31.680 --> 00:11:35.030 align:start position:0% sri he<00:11:31.839> had<00:11:33.360> he<00:11:34.240> we<00:11:34.399> had<00:11:34.640> met 00:11:35.030 --> 00:11:35.040 align:start position:0% he had he we had met 00:11:35.040 --> 00:11:37.030 align:start position:0% he had he we had met when<00:11:35.360> he<00:11:35.839> was<00:11:36.160> a<00:11:36.320> student<00:11:36.560> at<00:11:36.640> stanford<00:11:36.959> and 00:11:37.030 --> 00:11:37.040 align:start position:0% when he was a student at stanford and 00:11:37.040 --> 00:11:38.230 align:start position:0% when he was a student at stanford and was<00:11:37.200> a<00:11:37.279> postdoc<00:11:37.600> there<00:11:37.839> i<00:11:37.920> think<00:11:38.000> he<00:11:38.079> might 00:11:38.230 --> 00:11:38.240 align:start position:0% was a postdoc there i think he might 00:11:38.240 --> 00:11:40.310 align:start position:0% was a postdoc there i think he might have<00:11:38.320> been<00:11:38.399> an<00:11:38.560> undergrad<00:11:38.959> at<00:11:39.040> the<00:11:39.120> time 00:11:40.310 --> 00:11:40.320 align:start position:0% have been an undergrad at the time 00:11:40.320 --> 00:11:42.870 align:start position:0% have been an undergrad at the time and<00:11:40.720> he<00:11:40.880> came<00:11:41.120> by<00:11:41.279> one<00:11:41.440> day<00:11:41.600> and<00:11:41.680> said<00:11:41.920> so<00:11:42.320> we're 00:11:42.870 --> 00:11:42.880 align:start position:0% and he came by one day and said so we're 00:11:42.880 --> 00:11:43.990 align:start position:0% and he came by one day and said so we're you<00:11:42.959> know<00:11:43.040> we're<00:11:43.200> doing<00:11:43.440> this<00:11:43.519> new<00:11:43.680> thing<00:11:43.920> at 00:11:43.990 --> 00:11:44.000 align:start position:0% you know we're doing this new thing at 00:11:44.000 --> 00:11:45.350 align:start position:0% you know we're doing this new thing at this<00:11:44.160> new<00:11:44.320> company<00:11:44.800> and<00:11:45.040> we're<00:11:45.200> going<00:11:45.279> to 00:11:45.350 --> 00:11:45.360 align:start position:0% this new company and we're going to 00:11:45.360 --> 00:11:47.110 align:start position:0% this new company and we're going to build<00:11:45.600> up<00:11:45.760> all<00:11:45.920> this<00:11:46.160> open<00:11:46.480> source 00:11:47.110 --> 00:11:47.120 align:start position:0% build up all this open source 00:11:47.120 --> 00:11:49.509 align:start position:0% build up all this open source uh<00:11:47.760> robot<00:11:48.399> software<00:11:48.800> infrastructure<00:11:49.440> and 00:11:49.509 --> 00:11:49.519 align:start position:0% uh robot software infrastructure and 00:11:49.519 --> 00:11:50.550 align:start position:0% uh robot software infrastructure and that's<00:11:49.680> the<00:11:49.760> thing<00:11:49.920> that<00:11:50.000> i<00:11:50.079> have<00:11:50.160> been<00:11:50.320> doing 00:11:50.550 --> 00:11:50.560 align:start position:0% that's the thing that i have been doing 00:11:50.560 --> 00:11:51.190 align:start position:0% that's the thing that i have been doing a<00:11:50.639> lot<00:11:50.880> of 00:11:51.190 --> 00:11:51.200 align:start position:0% a lot of 00:11:51.200 --> 00:11:53.750 align:start position:0% a lot of completely<00:11:51.600> independent<00:11:52.079> of<00:11:52.160> my<00:11:52.240> thesis<00:11:52.639> work 00:11:53.750 --> 00:11:53.760 align:start position:0% completely independent of my thesis work 00:11:53.760 --> 00:11:55.509 align:start position:0% completely independent of my thesis work and<00:11:54.079> he<00:11:54.240> said<00:11:54.480> you<00:11:54.560> know<00:11:54.720> do<00:11:54.800> you<00:11:54.880> want<00:11:54.959> to<00:11:55.040> come 00:11:55.509 --> 00:11:55.519 align:start position:0% and he said you know do you want to come 00:11:55.519 --> 00:11:57.030 align:start position:0% and he said you know do you want to come help<00:11:55.680> us<00:11:55.760> do<00:11:56.000> this<00:11:56.240> and<00:11:56.320> i<00:11:56.399> said<00:11:56.560> that<00:11:56.720> sounds 00:11:57.030 --> 00:11:57.040 align:start position:0% help us do this and i said that sounds 00:11:57.040 --> 00:11:58.550 align:start position:0% help us do this and i said that sounds pretty<00:11:57.200> cool<00:11:57.519> so<00:11:57.760> i<00:11:57.920> came<00:11:58.160> over 00:11:58.550 --> 00:11:58.560 align:start position:0% pretty cool so i came over 00:11:58.560 --> 00:12:00.949 align:start position:0% pretty cool so i came over and<00:11:58.880> met<00:11:59.440> steve<00:11:59.920> and<00:12:00.160> scott<00:12:00.480> and<00:12:00.560> the<00:12:00.639> rest<00:12:00.800> of 00:12:00.949 --> 00:12:00.959 align:start position:0% and met steve and scott and the rest of 00:12:00.959 --> 00:12:01.829 align:start position:0% and met steve and scott and the rest of the<00:12:01.040> team 00:12:01.829 --> 00:12:01.839 align:start position:0% the team 00:12:01.839 --> 00:12:04.310 align:start position:0% the team that<00:12:02.000> was<00:12:02.160> here<00:12:02.320> at<00:12:02.399> the<00:12:02.560> time<00:12:03.120> um<00:12:03.920> and<00:12:04.000> then 00:12:04.310 --> 00:12:04.320 align:start position:0% that was here at the time um and then 00:12:04.320 --> 00:12:05.910 align:start position:0% that was here at the time um and then came<00:12:04.560> on<00:12:04.720> board<00:12:05.040> that<00:12:05.200> was<00:12:05.360> about<00:12:05.680> three<00:12:05.839> and<00:12:05.920> a 00:12:05.910 --> 00:12:05.920 align:start position:0% came on board that was about three and a 00:12:05.920 --> 00:12:08.310 align:start position:0% came on board that was about three and a half<00:12:06.160> years<00:12:06.320> ago 00:12:08.310 --> 00:12:08.320 align:start position:0% half years ago 00:12:08.320 --> 00:12:09.590 align:start position:0% half years ago what<00:12:08.480> kind<00:12:08.639> of<00:12:08.720> work<00:12:08.880> were<00:12:09.040> you<00:12:09.200> doing<00:12:09.440> at 00:12:09.590 --> 00:12:09.600 align:start position:0% what kind of work were you doing at 00:12:09.600 --> 00:12:12.310 align:start position:0% what kind of work were you doing at stanford<00:12:10.240> with<00:12:10.480> sebastian's<00:12:11.120> group 00:12:12.310 --> 00:12:12.320 align:start position:0% stanford with sebastian's group 00:12:12.320 --> 00:12:14.870 align:start position:0% stanford with sebastian's group i<00:12:12.639> uh<00:12:13.200> in<00:12:13.360> sebastian's<00:12:13.920> group<00:12:14.079> at<00:12:14.240> stanford<00:12:14.639> i 00:12:14.870 --> 00:12:14.880 align:start position:0% i uh in sebastian's group at stanford i 00:12:14.880 --> 00:12:15.509 align:start position:0% i uh in sebastian's group at stanford i was 00:12:15.509 --> 00:12:15.519 align:start position:0% was 00:12:15.519 --> 00:12:17.750 align:start position:0% was still<00:12:15.839> doing<00:12:16.240> multi-robot<00:12:16.959> work<00:12:17.200> so<00:12:17.440> i<00:12:17.519> was 00:12:17.750 --> 00:12:17.760 align:start position:0% still doing multi-robot work so i was 00:12:17.760 --> 00:12:20.870 align:start position:0% still doing multi-robot work so i was sort<00:12:17.920> of<00:12:18.079> following<00:12:18.480> on<00:12:18.560> for<00:12:18.720> my<00:12:18.880> thesis<00:12:19.279> work 00:12:20.870 --> 00:12:20.880 align:start position:0% sort of following on for my thesis work 00:12:20.880 --> 00:12:22.629 align:start position:0% sort of following on for my thesis work you<00:12:21.040> know<00:12:21.360> trying<00:12:21.680> to<00:12:21.839> wrangle<00:12:22.240> teams<00:12:22.560> of 00:12:22.629 --> 00:12:22.639 align:start position:0% you know trying to wrangle teams of 00:12:22.639 --> 00:12:25.670 align:start position:0% you know trying to wrangle teams of robots<00:12:23.200> to<00:12:23.360> do<00:12:23.600> interesting<00:12:24.079> things 00:12:25.670 --> 00:12:25.680 align:start position:0% robots to do interesting things 00:12:25.680 --> 00:12:28.710 align:start position:0% robots to do interesting things spent<00:12:26.079> a<00:12:26.160> fair<00:12:26.320> bit<00:12:26.480> of<00:12:26.560> time<00:12:26.800> working<00:12:27.200> on<00:12:27.440> a 00:12:28.710 --> 00:12:28.720 align:start position:0% spent a fair bit of time working on a 00:12:28.720 --> 00:12:32.150 align:start position:0% spent a fair bit of time working on a collaborative<00:12:29.920> search<00:12:31.040> problem<00:12:31.600> where<00:12:32.000> you 00:12:32.150 --> 00:12:32.160 align:start position:0% collaborative search problem where you 00:12:32.160 --> 00:12:33.990 align:start position:0% collaborative search problem where you have<00:12:32.399> a<00:12:32.720> team<00:12:32.959> of<00:12:33.040> robots<00:12:33.440> that<00:12:33.600> you<00:12:33.760> want<00:12:33.920> to 00:12:33.990 --> 00:12:34.000 align:start position:0% have a team of robots that you want to 00:12:34.000 --> 00:12:34.310 align:start position:0% have a team of robots that you want to have 00:12:34.310 --> 00:12:34.320 align:start position:0% have 00:12:34.320 --> 00:12:36.949 align:start position:0% have run<00:12:34.480> through<00:12:34.720> a<00:12:34.800> building<00:12:35.200> and<00:12:36.480> search<00:12:36.720> it<00:12:36.880> in 00:12:36.949 --> 00:12:36.959 align:start position:0% run through a building and search it in 00:12:36.959 --> 00:12:38.389 align:start position:0% run through a building and search it in such<00:12:37.120> a<00:12:37.200> way<00:12:37.360> that<00:12:37.440> they<00:12:37.600> find<00:12:37.920> anybody<00:12:38.240> who 00:12:38.389 --> 00:12:38.399 align:start position:0% such a way that they find anybody who 00:12:38.399 --> 00:12:40.069 align:start position:0% such a way that they find anybody who might<00:12:38.560> happen<00:12:38.800> to<00:12:38.880> be<00:12:38.959> in<00:12:39.040> the<00:12:39.120> building 00:12:40.069 --> 00:12:40.079 align:start position:0% might happen to be in the building 00:12:40.079 --> 00:12:41.829 align:start position:0% might happen to be in the building that<00:12:40.240> turned<00:12:40.560> out<00:12:40.639> to<00:12:40.959> verge<00:12:41.360> a<00:12:41.519> little<00:12:41.680> bit 00:12:41.829 --> 00:12:41.839 align:start position:0% that turned out to verge a little bit 00:12:41.839 --> 00:12:44.230 align:start position:0% that turned out to verge a little bit into<00:12:42.480> computational<00:12:43.040> geometry<00:12:43.760> and 00:12:44.230 --> 00:12:44.240 align:start position:0% into computational geometry and 00:12:44.240 --> 00:12:45.910 align:start position:0% into computational geometry and uh<00:12:44.639> was<00:12:44.880> a<00:12:45.040> was<00:12:45.200> a<00:12:45.279> pretty<00:12:45.440> interesting<00:12:45.760> thing 00:12:45.910 --> 00:12:45.920 align:start position:0% uh was a was a pretty interesting thing 00:12:45.920 --> 00:12:47.509 align:start position:0% uh was a was a pretty interesting thing to<00:12:46.000> work<00:12:46.240> on<00:12:46.959> i<00:12:47.120> was 00:12:47.509 --> 00:12:47.519 align:start position:0% to work on i was 00:12:47.519 --> 00:12:49.269 align:start position:0% to work on i was i<00:12:47.839> left<00:12:48.240> right<00:12:48.480> at<00:12:48.560> the<00:12:48.639> time<00:12:48.959> that<00:12:49.120> the 00:12:49.269 --> 00:12:49.279 align:start position:0% i left right at the time that the 00:12:49.279 --> 00:12:50.550 align:start position:0% i left right at the time that the autonomous<00:12:49.839> driving<00:12:50.160> stuff 00:12:50.550 --> 00:12:50.560 align:start position:0% autonomous driving stuff 00:12:50.560 --> 00:12:53.829 align:start position:0% autonomous driving stuff was<00:12:50.720> coming<00:12:51.040> up<00:12:51.200> so<00:12:51.279> i<00:12:51.279> i<00:12:52.160> didn't<00:12:52.320> work<00:12:52.560> on<00:12:52.720> that 00:12:53.829 --> 00:12:53.839 align:start position:0% was coming up so i i didn't work on that 00:12:53.839 --> 00:12:56.949 align:start position:0% was coming up so i i didn't work on that and<00:12:54.160> you<00:12:54.320> did<00:12:54.480> similar<00:12:54.880> work<00:12:55.120> at<00:12:55.200> sri 00:12:56.949 --> 00:12:56.959 align:start position:0% and you did similar work at sri 00:12:56.959 --> 00:12:59.910 align:start position:0% and you did similar work at sri i<00:12:57.600> did<00:12:57.839> do<00:12:58.079> similar<00:12:58.399> work<00:12:58.639> at<00:12:58.800> sri<00:12:59.279> that<00:12:59.600> well 00:12:59.910 --> 00:12:59.920 align:start position:0% i did do similar work at sri that well 00:12:59.920 --> 00:13:00.870 align:start position:0% i did do similar work at sri that well you<00:13:00.000> know<00:13:00.160> sri 00:13:00.870 --> 00:13:00.880 align:start position:0% you know sri 00:13:00.880 --> 00:13:04.550 align:start position:0% you know sri um<00:13:02.720> i<00:13:02.959> did 00:13:04.550 --> 00:13:04.560 align:start position:0% um i did 00:13:04.560 --> 00:13:08.150 align:start position:0% um i did some<00:13:04.720> multi-robot<00:13:05.360> work<00:13:05.920> um<00:13:06.560> and<00:13:06.720> also<00:13:07.200> some 00:13:08.150 --> 00:13:08.160 align:start position:0% some multi-robot work um and also some 00:13:08.160 --> 00:13:09.590 align:start position:0% some multi-robot work um and also some some<00:13:08.399> outdoor<00:13:08.720> robot<00:13:09.040> work<00:13:09.200> we<00:13:09.360> had<00:13:09.440> an 00:13:09.590 --> 00:13:09.600 align:start position:0% some outdoor robot work we had an 00:13:09.600 --> 00:13:11.670 align:start position:0% some outdoor robot work we had an interesting<00:13:10.240> uh<00:13:10.560> darpa<00:13:10.959> project 00:13:11.670 --> 00:13:11.680 align:start position:0% interesting uh darpa project 00:13:11.680 --> 00:13:13.910 align:start position:0% interesting uh darpa project that<00:13:12.399> involved<00:13:12.800> use<00:13:13.200> where<00:13:13.360> you<00:13:13.440> had<00:13:13.600> to<00:13:13.680> have 00:13:13.910 --> 00:13:13.920 align:start position:0% that involved use where you had to have 00:13:13.920 --> 00:13:15.829 align:start position:0% that involved use where you had to have a<00:13:14.320> get<00:13:14.480> a<00:13:14.560> robot<00:13:15.040> to 00:13:15.829 --> 00:13:15.839 align:start position:0% a get a robot to 00:13:15.839 --> 00:13:18.150 align:start position:0% a get a robot to start<00:13:16.720> from<00:13:17.120> whatever<00:13:17.440> location<00:13:17.839> it<00:13:18.000> happened 00:13:18.150 --> 00:13:18.160 align:start position:0% start from whatever location it happened 00:13:18.160 --> 00:13:18.870 align:start position:0% start from whatever location it happened to<00:13:18.320> be<00:13:18.480> in 00:13:18.870 --> 00:13:18.880 align:start position:0% to be in 00:13:18.880 --> 00:13:22.150 align:start position:0% to be in and<00:13:19.200> get<00:13:19.519> to<00:13:19.760> some<00:13:20.320> gps<00:13:20.800> designated<00:13:21.440> location 00:13:22.150 --> 00:13:22.160 align:start position:0% and get to some gps designated location 00:13:22.160 --> 00:13:23.590 align:start position:0% and get to some gps designated location and<00:13:22.320> along<00:13:22.560> the<00:13:22.639> way<00:13:22.880> you<00:13:22.959> had<00:13:23.120> to<00:13:23.200> use<00:13:23.360> only 00:13:23.590 --> 00:13:23.600 align:start position:0% and along the way you had to use only 00:13:23.600 --> 00:13:25.509 align:start position:0% and along the way you had to use only stereo<00:13:24.079> vision<00:13:24.320> to<00:13:24.480> avoid<00:13:24.800> all<00:13:24.880> the<00:13:25.040> obstacles 00:13:25.509 --> 00:13:25.519 align:start position:0% stereo vision to avoid all the obstacles 00:13:25.519 --> 00:13:27.110 align:start position:0% stereo vision to avoid all the obstacles and<00:13:25.600> get<00:13:25.760> there 00:13:27.110 --> 00:13:27.120 align:start position:0% and get there 00:13:27.120 --> 00:13:28.389 align:start position:0% and get there and<00:13:27.200> that's<00:13:27.360> where<00:13:27.519> i<00:13:27.600> first<00:13:27.839> worked<00:13:28.160> with 00:13:28.389 --> 00:13:28.399 align:start position:0% and that's where i first worked with 00:13:28.399 --> 00:13:30.310 align:start position:0% and that's where i first worked with kirk<00:13:28.639> conledge<00:13:29.279> who 00:13:30.310 --> 00:13:30.320 align:start position:0% kirk conledge who 00:13:30.320 --> 00:13:32.150 align:start position:0% kirk conledge who is<00:13:30.560> actually<00:13:30.800> here<00:13:30.959> at<00:13:31.040> willow<00:13:31.360> now<00:13:31.920> and<00:13:32.079> we 00:13:32.150 --> 00:13:32.160 align:start position:0% is actually here at willow now and we 00:13:32.160 --> 00:13:33.590 align:start position:0% is actually here at willow now and we worked<00:13:32.399> together<00:13:32.639> on<00:13:32.720> that<00:13:32.880> project<00:13:33.279> he<00:13:33.440> was 00:13:33.590 --> 00:13:33.600 align:start position:0% worked together on that project he was 00:13:33.600 --> 00:13:35.190 align:start position:0% worked together on that project he was doing<00:13:33.839> the<00:13:33.920> stereo<00:13:34.399> vision<00:13:34.800> and<00:13:34.880> visual 00:13:35.190 --> 00:13:35.200 align:start position:0% doing the stereo vision and visual 00:13:35.200 --> 00:13:37.750 align:start position:0% doing the stereo vision and visual odometry<00:13:35.839> part<00:13:36.160> and<00:13:36.240> i<00:13:36.399> did<00:13:36.639> the<00:13:36.880> uh 00:13:37.750 --> 00:13:37.760 align:start position:0% odometry part and i did the uh 00:13:37.760 --> 00:13:39.829 align:start position:0% odometry part and i did the uh the<00:13:38.399> the<00:13:38.560> controller<00:13:39.120> part<00:13:39.279> so<00:13:39.440> how<00:13:39.600> do<00:13:39.680> you 00:13:39.829 --> 00:13:39.839 align:start position:0% the the controller part so how do you 00:13:39.839 --> 00:13:40.870 align:start position:0% the the controller part so how do you actually<00:13:40.399> uh 00:13:40.870 --> 00:13:40.880 align:start position:0% actually uh 00:13:40.880 --> 00:13:42.629 align:start position:0% actually uh decide<00:13:41.680> exactly<00:13:42.000> where<00:13:42.079> the<00:13:42.240> robot<00:13:42.480> is<00:13:42.560> going 00:13:42.629 --> 00:13:42.639 align:start position:0% decide exactly where the robot is going 00:13:42.639 --> 00:13:44.150 align:start position:0% decide exactly where the robot is going to<00:13:42.720> go<00:13:42.959> given<00:13:43.279> the<00:13:43.360> information<00:13:43.839> you<00:13:43.920> have 00:13:44.150 --> 00:13:44.160 align:start position:0% to go given the information you have 00:13:44.160 --> 00:13:45.670 align:start position:0% to go given the information you have from<00:13:44.320> the<00:13:44.399> cameras 00:13:45.670 --> 00:13:45.680 align:start position:0% from the cameras 00:13:45.680 --> 00:13:47.350 align:start position:0% from the cameras we<00:13:45.839> talked<00:13:46.079> about<00:13:46.399> bowls<00:13:46.800> over<00:13:46.959> there<00:13:47.120> and<00:13:47.279> he 00:13:47.350 --> 00:13:47.360 align:start position:0% we talked about bowls over there and he 00:13:47.360 --> 00:13:49.350 align:start position:0% we talked about bowls over there and he showed<00:13:47.600> us<00:13:47.760> the<00:13:48.160> room<00:13:48.560> full<00:13:48.800> of<00:13:49.040> all<00:13:49.199> these 00:13:49.350 --> 00:13:49.360 align:start position:0% showed us the room full of all these 00:13:49.360 --> 00:13:50.710 align:start position:0% showed us the room full of all these little<00:13:49.519> robots<00:13:50.000> and<00:13:50.079> i<00:13:50.160> guess<00:13:50.320> they<00:13:50.480> did 00:13:50.710 --> 00:13:50.720 align:start position:0% little robots and i guess they did 00:13:50.720 --> 00:13:51.189 align:start position:0% little robots and i guess they did something 00:13:51.189 --> 00:13:51.199 align:start position:0% something 00:13:51.199 --> 00:13:52.949 align:start position:0% something yeah<00:13:51.600> oh<00:13:51.760> yeah<00:13:51.920> i<00:13:51.920> know<00:13:52.079> bob<00:13:52.320> very<00:13:52.480> well<00:13:52.720> bob 00:13:52.949 --> 00:13:52.959 align:start position:0% yeah oh yeah i know bob very well bob 00:13:52.959 --> 00:13:54.790 align:start position:0% yeah oh yeah i know bob very well bob was<00:13:53.279> yeah<00:13:53.680> bob<00:13:53.920> was<00:13:54.079> also<00:13:54.240> on<00:13:54.320> the<00:13:54.399> logger 00:13:54.790 --> 00:13:54.800 align:start position:0% was yeah bob was also on the logger 00:13:54.800 --> 00:13:55.269 align:start position:0% was yeah bob was also on the logger project 00:13:55.269 --> 00:13:55.279 align:start position:0% project 00:13:55.279 --> 00:13:58.550 align:start position:0% project um<00:13:56.240> so<00:13:56.880> that<00:13:57.199> that<00:13:57.360> was<00:13:57.519> the<00:13:57.600> cinebots<00:13:58.160> project 00:13:58.550 --> 00:13:58.560 align:start position:0% um so that that was the cinebots project 00:13:58.560 --> 00:14:01.509 align:start position:0% um so that that was the cinebots project with<00:13:58.720> all<00:13:58.880> the<00:13:59.279> little<00:13:59.519> amigo<00:13:59.920> bots 00:14:01.509 --> 00:14:01.519 align:start position:0% with all the little amigo bots 00:14:01.519 --> 00:14:03.750 align:start position:0% with all the little amigo bots and<00:14:01.920> that<00:14:02.399> happened<00:14:02.880> just<00:14:03.120> before<00:14:03.440> i<00:14:03.519> got 00:14:03.750 --> 00:14:03.760 align:start position:0% and that happened just before i got 00:14:03.760 --> 00:14:05.269 align:start position:0% and that happened just before i got there<00:14:04.000> so<00:14:04.160> i<00:14:04.800> didn't 00:14:05.269 --> 00:14:05.279 align:start position:0% there so i didn't 00:14:05.279 --> 00:14:07.829 align:start position:0% there so i didn't wasn't<00:14:05.600> working<00:14:05.920> on<00:14:06.000> that<00:14:06.240> i<00:14:06.720> i<00:14:07.360> that<00:14:07.519> was<00:14:07.680> part 00:14:07.829 --> 00:14:07.839 align:start position:0% wasn't working on that i i that was part 00:14:07.839 --> 00:14:09.110 align:start position:0% wasn't working on that i i that was part of<00:14:07.920> the<00:14:08.079> sdr<00:14:08.560> program 00:14:09.110 --> 00:14:09.120 align:start position:0% of the sdr program 00:14:09.120 --> 00:14:12.629 align:start position:0% of the sdr program that<00:14:09.360> darpa<00:14:09.680> ran<00:14:10.800> which<00:14:11.040> i<00:14:11.680> had<00:14:11.920> a<00:14:12.079> peripheral 00:14:12.629 --> 00:14:12.639 align:start position:0% that darpa ran which i had a peripheral 00:14:12.639 --> 00:14:15.509 align:start position:0% that darpa ran which i had a peripheral role<00:14:12.880> in<00:14:12.959> when<00:14:13.120> i<00:14:13.199> was<00:14:13.279> a<00:14:13.360> usc 00:14:15.509 --> 00:14:15.519 align:start position:0% role in when i was a usc 00:14:15.519 --> 00:14:16.870 align:start position:0% role in when i was a usc and<00:14:15.680> how<00:14:15.839> did<00:14:16.000> you<00:14:16.079> get<00:14:16.320> involved<00:14:16.639> with<00:14:16.800> the 00:14:16.870 --> 00:14:16.880 align:start position:0% and how did you get involved with the 00:14:16.880 --> 00:14:18.710 align:start position:0% and how did you get involved with the open<00:14:17.199> source<00:14:17.600> community 00:14:18.710 --> 00:14:18.720 align:start position:0% open source community 00:14:18.720 --> 00:14:21.189 align:start position:0% open source community imagine<00:14:19.199> you<00:14:19.360> had<00:14:19.519> done<00:14:19.760> it<00:14:20.639> before<00:14:20.959> you<00:14:21.040> came 00:14:21.189 --> 00:14:21.199 align:start position:0% imagine you had done it before you came 00:14:21.199 --> 00:14:22.710 align:start position:0% imagine you had done it before you came here<00:14:21.360> kind<00:14:21.519> of<00:14:21.680> on<00:14:21.760> your<00:14:21.920> own 00:14:22.710 --> 00:14:22.720 align:start position:0% here kind of on your own 00:14:22.720 --> 00:14:25.430 align:start position:0% here kind of on your own yeah<00:14:23.120> so<00:14:23.600> when<00:14:23.760> i<00:14:23.839> mentioned<00:14:24.240> the<00:14:24.720> the<00:14:25.279> the 00:14:25.430 --> 00:14:25.440 align:start position:0% yeah so when i mentioned the the the 00:14:25.440 --> 00:14:27.110 align:start position:0% yeah so when i mentioned the the the pioneers<00:14:26.000> the<00:14:26.079> robots<00:14:26.480> that<00:14:26.560> we<00:14:26.639> used<00:14:26.880> when<00:14:27.040> i 00:14:27.110 --> 00:14:27.120 align:start position:0% pioneers the robots that we used when i 00:14:27.120 --> 00:14:28.949 align:start position:0% pioneers the robots that we used when i was<00:14:27.279> in<00:14:27.440> when<00:14:27.680> i<00:14:27.680> was<00:14:27.839> in<00:14:27.920> grad<00:14:28.160> school 00:14:28.949 --> 00:14:28.959 align:start position:0% was in when i was in grad school 00:14:28.959 --> 00:14:32.069 align:start position:0% was in when i was in grad school they<00:14:29.120> came<00:14:29.440> with<00:14:31.040> some<00:14:31.279> software 00:14:32.069 --> 00:14:32.079 align:start position:0% they came with some software 00:14:32.079 --> 00:14:34.150 align:start position:0% they came with some software that<00:14:33.040> was<00:14:33.279> it<00:14:33.360> was<00:14:33.519> a<00:14:33.600> particular 00:14:34.150 --> 00:14:34.160 align:start position:0% that was it was a particular 00:14:34.160 --> 00:14:35.750 align:start position:0% that was it was a particular behavior-based 00:14:35.750 --> 00:14:35.760 align:start position:0% behavior-based 00:14:35.760 --> 00:14:38.870 align:start position:0% behavior-based interface<00:14:36.320> for<00:14:36.480> programming<00:14:36.959> robots<00:14:38.560> and 00:14:38.870 --> 00:14:38.880 align:start position:0% interface for programming robots and 00:14:38.880 --> 00:14:40.710 align:start position:0% interface for programming robots and it<00:14:38.959> was<00:14:39.199> it<00:14:39.279> was<00:14:39.519> fine<00:14:40.000> it<00:14:40.079> was<00:14:40.240> a<00:14:40.399> it<00:14:40.480> was<00:14:40.560> a 00:14:40.710 --> 00:14:40.720 align:start position:0% it was it was fine it was a it was a 00:14:40.720 --> 00:14:42.710 align:start position:0% it was it was fine it was a it was a reasonable<00:14:41.040> way<00:14:41.199> to<00:14:41.279> talk<00:14:41.440> to<00:14:41.519> the<00:14:41.600> robot 00:14:42.710 --> 00:14:42.720 align:start position:0% reasonable way to talk to the robot 00:14:42.720 --> 00:14:44.949 align:start position:0% reasonable way to talk to the robot but<00:14:42.959> like<00:14:43.199> any<00:14:43.360> software<00:14:43.680> it<00:14:43.760> had<00:14:44.000> bugs<00:14:44.639> and<00:14:44.880> it 00:14:44.949 --> 00:14:44.959 align:start position:0% but like any software it had bugs and it 00:14:44.959 --> 00:14:46.710 align:start position:0% but like any software it had bugs and it had<00:14:45.120> limitations 00:14:46.710 --> 00:14:46.720 align:start position:0% had limitations 00:14:46.720 --> 00:14:48.790 align:start position:0% had limitations and<00:14:47.440> unfortunately<00:14:47.920> because<00:14:48.160> it<00:14:48.240> was<00:14:48.399> a<00:14:48.560> close 00:14:48.790 --> 00:14:48.800 align:start position:0% and unfortunately because it was a close 00:14:48.800 --> 00:14:50.310 align:start position:0% and unfortunately because it was a close source<00:14:49.040> piece<00:14:49.279> of<00:14:49.360> software 00:14:50.310 --> 00:14:50.320 align:start position:0% source piece of software 00:14:50.320 --> 00:14:52.389 align:start position:0% source piece of software we<00:14:50.480> couldn't<00:14:50.720> do<00:14:50.880> anything<00:14:51.120> about<00:14:51.360> it<00:14:52.160> and<00:14:52.320> it 00:14:52.389 --> 00:14:52.399 align:start position:0% we couldn't do anything about it and it 00:14:52.399 --> 00:14:53.509 align:start position:0% we couldn't do anything about it and it was<00:14:52.639> made<00:14:52.880> all<00:14:53.040> the 00:14:53.509 --> 00:14:53.519 align:start position:0% was made all the 00:14:53.519 --> 00:14:56.629 align:start position:0% was made all the all<00:14:53.680> the<00:14:53.839> more<00:14:54.399> uh<00:14:54.959> frustrating<00:14:55.680> because<00:14:56.480> it 00:14:56.629 --> 00:14:56.639 align:start position:0% all the more uh frustrating because it 00:14:56.639 --> 00:14:58.069 align:start position:0% all the more uh frustrating because it so<00:14:56.800> happened<00:14:57.120> that<00:14:57.279> one<00:14:57.440> of<00:14:57.519> the 00:14:58.069 --> 00:14:58.079 align:start position:0% so happened that one of the 00:14:58.079 --> 00:14:59.829 align:start position:0% so happened that one of the the<00:14:58.320> author<00:14:58.720> of<00:14:58.800> that<00:14:59.040> software<00:14:59.519> was<00:14:59.680> actually 00:14:59.829 --> 00:14:59.839 align:start position:0% the author of that software was actually 00:14:59.839 --> 00:15:01.350 align:start position:0% the author of that software was actually a<00:14:59.920> fellow<00:15:00.240> grad<00:15:00.399> student<00:15:00.639> of<00:15:00.720> mine<00:15:01.040> in<00:15:01.120> the<00:15:01.199> lab 00:15:01.350 --> 00:15:01.360 align:start position:0% a fellow grad student of mine in the lab 00:15:01.360 --> 00:15:01.990 align:start position:0% a fellow grad student of mine in the lab at<00:15:01.519> ufc 00:15:01.990 --> 00:15:02.000 align:start position:0% at ufc 00:15:02.000 --> 00:15:03.670 align:start position:0% at ufc he<00:15:02.079> had<00:15:02.160> done<00:15:02.320> it<00:15:02.480> under<00:15:02.639> contract<00:15:03.120> work<00:15:03.519> for 00:15:03.670 --> 00:15:03.680 align:start position:0% he had done it under contract work for 00:15:03.680 --> 00:15:05.269 align:start position:0% he had done it under contract work for the<00:15:03.760> company<00:15:04.800> um 00:15:05.269 --> 00:15:05.279 align:start position:0% the company um 00:15:05.279 --> 00:15:06.949 align:start position:0% the company um and<00:15:05.440> he's<00:15:05.680> right<00:15:05.839> across<00:15:06.160> the<00:15:06.240> room<00:15:06.560> but<00:15:06.800> i 00:15:06.949 --> 00:15:06.959 align:start position:0% and he's right across the room but i 00:15:06.959 --> 00:15:09.030 align:start position:0% and he's right across the room but i can't<00:15:07.519> you<00:15:07.600> know<00:15:08.000> i<00:15:08.160> can't<00:15:08.320> get<00:15:08.480> access<00:15:08.800> to<00:15:08.959> the 00:15:09.030 --> 00:15:09.040 align:start position:0% can't you know i can't get access to the 00:15:09.040 --> 00:15:10.150 align:start position:0% can't you know i can't get access to the code<00:15:09.360> i<00:15:09.519> can't 00:15:10.150 --> 00:15:10.160 align:start position:0% code i can't 00:15:10.160 --> 00:15:11.750 align:start position:0% code i can't i<00:15:10.240> can't<00:15:10.480> fix<00:15:10.720> bugs<00:15:11.120> i<00:15:11.199> can't<00:15:11.360> make<00:15:11.519> it<00:15:11.600> do 00:15:11.750 --> 00:15:11.760 align:start position:0% i can't fix bugs i can't make it do 00:15:11.760 --> 00:15:13.430 align:start position:0% i can't fix bugs i can't make it do something<00:15:12.079> different<00:15:12.560> um 00:15:13.430 --> 00:15:13.440 align:start position:0% something different um 00:15:13.440 --> 00:15:15.750 align:start position:0% something different um so<00:15:14.079> like<00:15:14.320> any<00:15:14.720> good<00:15:14.880> computer<00:15:15.279> scientist<00:15:15.680> i 00:15:15.750 --> 00:15:15.760 align:start position:0% so like any good computer scientist i 00:15:15.760 --> 00:15:17.750 align:start position:0% so like any good computer scientist i said<00:15:15.920> well<00:15:16.320> i<00:15:16.399> can<00:15:16.560> write<00:15:16.800> my<00:15:16.959> own 00:15:17.750 --> 00:15:17.760 align:start position:0% said well i can write my own 00:15:17.760 --> 00:15:20.069 align:start position:0% said well i can write my own and<00:15:17.920> not<00:15:18.079> live<00:15:18.240> with<00:15:18.399> these<00:15:18.560> limitations<00:15:19.199> so 00:15:20.069 --> 00:15:20.079 align:start position:0% and not live with these limitations so 00:15:20.079 --> 00:15:21.189 align:start position:0% and not live with these limitations so together<00:15:20.399> with<00:15:20.639> a 00:15:21.189 --> 00:15:21.199 align:start position:0% together with a 00:15:21.199 --> 00:15:24.310 align:start position:0% together with a a<00:15:21.680> visiting<00:15:22.720> student<00:15:22.959> named<00:15:23.199> casper<00:15:23.600> stoy 00:15:24.310 --> 00:15:24.320 align:start position:0% a visiting student named casper stoy 00:15:24.320 --> 00:15:27.030 align:start position:0% a visiting student named casper stoy we<00:15:24.839> um<00:15:26.000> we<00:15:26.160> wrote<00:15:26.399> something<00:15:26.720> that<00:15:26.800> we<00:15:26.880> ended 00:15:27.030 --> 00:15:27.040 align:start position:0% we um we wrote something that we ended 00:15:27.040 --> 00:15:27.910 align:start position:0% we um we wrote something that we ended up<00:15:27.120> calling<00:15:27.440> player 00:15:27.910 --> 00:15:27.920 align:start position:0% up calling player 00:15:27.920 --> 00:15:31.829 align:start position:0% up calling player which<00:15:28.160> was<00:15:28.399> a<00:15:29.120> open<00:15:29.519> source<00:15:30.240> uh 00:15:31.829 --> 00:15:31.839 align:start position:0% which was a open source uh 00:15:31.839 --> 00:15:33.749 align:start position:0% which was a open source uh middleware<00:15:32.320> for<00:15:32.560> robots<00:15:33.120> it<00:15:33.199> was<00:15:33.360> a<00:15:33.519> it's<00:15:33.680> a 00:15:33.749 --> 00:15:33.759 align:start position:0% middleware for robots it was a it's a 00:15:33.759 --> 00:15:35.189 align:start position:0% middleware for robots it was a it's a server<00:15:34.079> that<00:15:34.240> runs<00:15:34.480> on<00:15:34.560> the<00:15:34.639> robot 00:15:35.189 --> 00:15:35.199 align:start position:0% server that runs on the robot 00:15:35.199 --> 00:15:37.030 align:start position:0% server that runs on the robot it<00:15:35.279> has<00:15:35.519> incited<00:15:36.079> all<00:15:36.240> the<00:15:36.399> pieces<00:15:36.800> you<00:15:36.880> need 00:15:37.030 --> 00:15:37.040 align:start position:0% it has incited all the pieces you need 00:15:37.040 --> 00:15:38.949 align:start position:0% it has incited all the pieces you need to<00:15:37.199> talk<00:15:37.360> to<00:15:37.519> all<00:15:37.680> the<00:15:37.839> devices<00:15:38.399> the<00:15:38.480> lasers 00:15:38.949 --> 00:15:38.959 align:start position:0% to talk to all the devices the lasers 00:15:38.959 --> 00:15:40.949 align:start position:0% to talk to all the devices the lasers and<00:15:39.040> cameras<00:15:39.519> and<00:15:39.600> the<00:15:39.759> wheels<00:15:40.079> and<00:15:40.240> so<00:15:40.399> on 00:15:40.949 --> 00:15:40.959 align:start position:0% and cameras and the wheels and so on 00:15:40.959 --> 00:15:42.949 align:start position:0% and cameras and the wheels and so on it<00:15:41.120> eventually<00:15:41.519> came<00:15:41.759> to<00:15:42.079> contain<00:15:42.480> algorithms 00:15:42.949 --> 00:15:42.959 align:start position:0% it eventually came to contain algorithms 00:15:42.959 --> 00:15:44.550 align:start position:0% it eventually came to contain algorithms for<00:15:43.120> doing<00:15:43.360> things<00:15:43.519> like<00:15:43.680> localization<00:15:44.480> and 00:15:44.550 --> 00:15:44.560 align:start position:0% for doing things like localization and 00:15:44.560 --> 00:15:46.150 align:start position:0% for doing things like localization and mapping<00:15:45.040> and<00:15:45.199> planning<00:15:45.680> and<00:15:45.759> things<00:15:46.000> like 00:15:46.150 --> 00:15:46.160 align:start position:0% mapping and planning and things like 00:15:46.160 --> 00:15:47.829 align:start position:0% mapping and planning and things like that 00:15:47.829 --> 00:15:47.839 align:start position:0% that 00:15:47.839 --> 00:15:49.430 align:start position:0% that and<00:15:48.000> we<00:15:48.079> released<00:15:48.399> it<00:15:48.480> open<00:15:48.720> source<00:15:48.959> we<00:15:49.120> posted 00:15:49.430 --> 00:15:49.440 align:start position:0% and we released it open source we posted 00:15:49.440 --> 00:15:51.030 align:start position:0% and we released it open source we posted it<00:15:49.519> on<00:15:49.600> sourceforge<00:15:50.399> this<00:15:50.560> was 00:15:51.030 --> 00:15:51.040 align:start position:0% it on sourceforge this was 00:15:51.040 --> 00:15:54.150 align:start position:0% it on sourceforge this was 2000<00:15:51.759> 2001<00:15:53.440> and 00:15:54.150 --> 00:15:54.160 align:start position:0% 2000 2001 and 00:15:54.160 --> 00:15:55.590 align:start position:0% 2000 2001 and ended<00:15:54.399> up<00:15:54.480> building<00:15:54.800> a<00:15:54.959> pretty<00:15:55.120> substantial 00:15:55.590 --> 00:15:55.600 align:start position:0% ended up building a pretty substantial 00:15:55.600 --> 00:15:57.829 align:start position:0% ended up building a pretty substantial community<00:15:56.079> around<00:15:56.560> that<00:15:56.880> project 00:15:57.829 --> 00:15:57.839 align:start position:0% community around that project 00:15:57.839 --> 00:16:00.710 align:start position:0% community around that project beyond<00:15:58.160> the<00:15:58.240> device<00:15:58.560> server<00:15:58.959> player<00:16:00.079> came 00:16:00.710 --> 00:16:00.720 align:start position:0% beyond the device server player came 00:16:00.720 --> 00:16:01.350 align:start position:0% beyond the device server player came stage 00:16:01.350 --> 00:16:01.360 align:start position:0% stage 00:16:01.360 --> 00:16:03.749 align:start position:0% stage which<00:16:01.600> is<00:16:01.680> a<00:16:01.759> 2d<00:16:02.160> robot<00:16:02.480> simulator<00:16:03.040> and<00:16:03.199> gazebo 00:16:03.749 --> 00:16:03.759 align:start position:0% which is a 2d robot simulator and gazebo 00:16:03.759 --> 00:16:06.389 align:start position:0% which is a 2d robot simulator and gazebo which<00:16:03.920> is<00:16:04.079> a<00:16:04.240> 3d<00:16:04.560> robot<00:16:04.880> simulator<00:16:05.360> those<00:16:05.600> all 00:16:06.389 --> 00:16:06.399 align:start position:0% which is a 3d robot simulator those all 00:16:06.399 --> 00:16:08.790 align:start position:0% which is a 3d robot simulator those all were<00:16:06.880> packaged<00:16:07.360> together<00:16:08.079> as<00:16:08.240> part<00:16:08.399> of<00:16:08.480> the 00:16:08.790 --> 00:16:08.800 align:start position:0% were packaged together as part of the 00:16:08.800 --> 00:16:10.069 align:start position:0% were packaged together as part of the what<00:16:09.040> eventually<00:16:09.279> we<00:16:09.440> called<00:16:09.680> the<00:16:09.759> player 00:16:10.069 --> 00:16:10.079 align:start position:0% what eventually we called the player 00:16:10.079 --> 00:16:11.590 align:start position:0% what eventually we called the player project 00:16:11.590 --> 00:16:11.600 align:start position:0% project 00:16:11.600 --> 00:16:13.910 align:start position:0% project and<00:16:12.000> still<00:16:12.800> there<00:16:12.959> are<00:16:13.040> thriving<00:16:13.440> communities 00:16:13.910 --> 00:16:13.920 align:start position:0% and still there are thriving communities 00:16:13.920 --> 00:16:16.069 align:start position:0% and still there are thriving communities around<00:16:14.240> all<00:16:14.399> those<00:16:14.560> pieces<00:16:14.880> of<00:16:14.959> software 00:16:16.069 --> 00:16:16.079 align:start position:0% around all those pieces of software 00:16:16.079 --> 00:16:19.110 align:start position:0% around all those pieces of software what<00:16:16.240> kind<00:16:16.399> of<00:16:16.560> uh<00:16:16.959> people<00:16:17.279> who<00:16:18.560> constitute 00:16:19.110 --> 00:16:19.120 align:start position:0% what kind of uh people who constitute 00:16:19.120 --> 00:16:20.470 align:start position:0% what kind of uh people who constitute that<00:16:19.279> community 00:16:20.470 --> 00:16:20.480 align:start position:0% that community 00:16:20.480 --> 00:16:23.430 align:start position:0% that community the<00:16:20.720> player<00:16:20.959> community<00:16:21.600> is<00:16:22.000> primarily<00:16:22.959> uh 00:16:23.430 --> 00:16:23.440 align:start position:0% the player community is primarily uh 00:16:23.440 --> 00:16:24.870 align:start position:0% the player community is primarily uh people<00:16:23.759> doing 00:16:24.870 --> 00:16:24.880 align:start position:0% people doing 00:16:24.880 --> 00:16:27.509 align:start position:0% people doing research<00:16:25.600> and<00:16:25.759> education<00:16:26.800> player<00:16:27.120> was<00:16:27.279> really 00:16:27.509 --> 00:16:27.519 align:start position:0% research and education player was really 00:16:27.519 --> 00:16:28.710 align:start position:0% research and education player was really designed<00:16:28.000> for 00:16:28.710 --> 00:16:28.720 align:start position:0% designed for 00:16:28.720 --> 00:16:30.870 align:start position:0% designed for robots<00:16:29.120> like<00:16:29.279> the<00:16:29.440> pioneer<00:16:30.079> it's<00:16:30.240> a<00:16:30.399> fairly 00:16:30.870 --> 00:16:30.880 align:start position:0% robots like the pioneer it's a fairly 00:16:30.880 --> 00:16:32.069 align:start position:0% robots like the pioneer it's a fairly simple<00:16:31.279> mobile<00:16:31.600> base 00:16:32.069 --> 00:16:32.079 align:start position:0% simple mobile base 00:16:32.079 --> 00:16:34.470 align:start position:0% simple mobile base and<00:16:32.240> it<00:16:32.320> tends<00:16:32.560> to<00:16:32.720> have<00:16:32.880> a<00:16:33.040> camera<00:16:34.000> and<00:16:34.240> maybe 00:16:34.470 --> 00:16:34.480 align:start position:0% and it tends to have a camera and maybe 00:16:34.480 --> 00:16:35.350 align:start position:0% and it tends to have a camera and maybe a<00:16:34.560> laser<00:16:34.959> on<00:16:35.120> it 00:16:35.350 --> 00:16:35.360 align:start position:0% a laser on it 00:16:35.360 --> 00:16:39.030 align:start position:0% a laser on it a<00:16:35.519> laser<00:16:35.839> rangefinder<00:16:36.880> and<00:16:37.040> so<00:16:37.519> a<00:16:37.759> player<00:16:38.000> is 00:16:39.030 --> 00:16:39.040 align:start position:0% a laser rangefinder and so a player is 00:16:39.040 --> 00:16:40.790 align:start position:0% a laser rangefinder and so a player is well<00:16:39.279> designed<00:16:39.759> for<00:16:40.160> running<00:16:40.480> in<00:16:40.560> that 00:16:40.790 --> 00:16:40.800 align:start position:0% well designed for running in that 00:16:40.800 --> 00:16:42.310 align:start position:0% well designed for running in that environment<00:16:41.199> so<00:16:41.360> people<00:16:41.519> that<00:16:41.680> have<00:16:42.000> a<00:16:42.079> bunch 00:16:42.310 --> 00:16:42.320 align:start position:0% environment so people that have a bunch 00:16:42.320 --> 00:16:44.310 align:start position:0% environment so people that have a bunch of<00:16:42.399> those<00:16:42.560> robots<00:16:42.959> in<00:16:43.040> their<00:16:43.199> lab 00:16:44.310 --> 00:16:44.320 align:start position:0% of those robots in their lab 00:16:44.320 --> 00:16:46.069 align:start position:0% of those robots in their lab we<00:16:44.480> use<00:16:44.639> it<00:16:44.800> for<00:16:45.040> to<00:16:45.120> support<00:16:45.440> their<00:16:45.600> research 00:16:46.069 --> 00:16:46.079 align:start position:0% we use it for to support their research 00:16:46.079 --> 00:16:48.150 align:start position:0% we use it for to support their research and<00:16:46.560> people<00:16:46.800> who<00:16:47.040> have 00:16:48.150 --> 00:16:48.160 align:start position:0% and people who have 00:16:48.160 --> 00:16:49.990 align:start position:0% and people who have a<00:16:48.240> bunch<00:16:48.480> of<00:16:48.639> robots<00:16:49.120> that<00:16:49.279> they<00:16:49.440> want<00:16:49.600> to<00:16:49.680> use 00:16:49.990 --> 00:16:50.000 align:start position:0% a bunch of robots that they want to use 00:16:50.000 --> 00:16:51.749 align:start position:0% a bunch of robots that they want to use to<00:16:50.560> teach<00:16:50.959> robotics 00:16:51.749 --> 00:16:51.759 align:start position:0% to teach robotics 00:16:51.759 --> 00:16:53.829 align:start position:0% to teach robotics uh<00:16:52.000> we'll<00:16:52.240> use<00:16:52.399> it<00:16:52.560> in<00:16:52.639> classes<00:16:53.279> that's<00:16:53.600> the 00:16:53.829 --> 00:16:53.839 align:start position:0% uh we'll use it in classes that's the 00:16:53.839 --> 00:16:55.030 align:start position:0% uh we'll use it in classes that's the that's<00:16:54.079> the<00:16:54.160> main<00:16:54.399> use 00:16:55.030 --> 00:16:55.040 align:start position:0% that's the main use 00:16:55.040 --> 00:16:56.870 align:start position:0% that's the main use a<00:16:55.199> couple<00:16:55.440> of<00:16:55.600> companies<00:16:56.000> picked<00:16:56.240> it<00:16:56.399> up<00:16:56.720> and 00:16:56.870 --> 00:16:56.880 align:start position:0% a couple of companies picked it up and 00:16:56.880 --> 00:16:58.790 align:start position:0% a couple of companies picked it up and shipped<00:16:57.600> uh<00:16:57.920> shipped<00:16:58.160> robots 00:16:58.790 --> 00:16:58.800 align:start position:0% shipped uh shipped robots 00:16:58.800 --> 00:17:01.430 align:start position:0% shipped uh shipped robots with<00:16:59.040> player<00:16:59.360> in<00:16:59.519> it<00:16:59.759> um<00:17:00.399> but<00:17:00.560> then<00:17:01.040> they<00:17:01.199> tend 00:17:01.430 --> 00:17:01.440 align:start position:0% with player in it um but then they tend 00:17:01.440 --> 00:17:02.790 align:start position:0% with player in it um but then they tend to<00:17:01.519> be<00:17:01.680> shipping<00:17:01.920> those<00:17:02.079> robots<00:17:02.480> to<00:17:02.560> people 00:17:02.790 --> 00:17:02.800 align:start position:0% to be shipping those robots to people 00:17:02.800 --> 00:17:04.230 align:start position:0% to be shipping those robots to people who<00:17:02.959> are<00:17:03.040> then<00:17:03.199> using<00:17:03.440> them<00:17:03.600> for<00:17:03.759> research<00:17:04.160> or 00:17:04.230 --> 00:17:04.240 align:start position:0% who are then using them for research or 00:17:04.240 --> 00:17:05.590 align:start position:0% who are then using them for research or education<00:17:04.720> so<00:17:04.880> it's<00:17:04.959> only<00:17:05.120> sort<00:17:05.360> of<00:17:05.439> one 00:17:05.590 --> 00:17:05.600 align:start position:0% education so it's only sort of one 00:17:05.600 --> 00:17:07.110 align:start position:0% education so it's only sort of one degree<00:17:05.919> removed 00:17:07.110 --> 00:17:07.120 align:start position:0% degree removed 00:17:07.120 --> 00:17:09.350 align:start position:0% degree removed and<00:17:07.439> do<00:17:07.600> you<00:17:07.760> find<00:17:08.000> a<00:17:08.079> lot<00:17:08.240> of<00:17:08.319> people<00:17:08.959> writing 00:17:09.350 --> 00:17:09.360 align:start position:0% and do you find a lot of people writing 00:17:09.360 --> 00:17:10.870 align:start position:0% and do you find a lot of people writing additional<00:17:09.839> code<00:17:10.319> that's 00:17:10.870 --> 00:17:10.880 align:start position:0% additional code that's 00:17:10.880 --> 00:17:13.510 align:start position:0% additional code that's compatible<00:17:11.679> and<00:17:11.839> trying<00:17:12.079> to<00:17:12.240> build<00:17:13.039> a<00:17:13.120> larger 00:17:13.510 --> 00:17:13.520 align:start position:0% compatible and trying to build a larger 00:17:13.520 --> 00:17:15.510 align:start position:0% compatible and trying to build a larger library<00:17:14.079> around<00:17:14.480> it 00:17:15.510 --> 00:17:15.520 align:start position:0% library around it 00:17:15.520 --> 00:17:17.429 align:start position:0% library around it sure<00:17:15.839> there<00:17:16.000> were<00:17:16.160> a<00:17:16.160> lot<00:17:16.319> of<00:17:16.400> contributors<00:17:17.039> to 00:17:17.429 --> 00:17:17.439 align:start position:0% sure there were a lot of contributors to 00:17:17.439 --> 00:17:18.710 align:start position:0% sure there were a lot of contributors to to<00:17:17.600> player 00:17:18.710 --> 00:17:18.720 align:start position:0% to player 00:17:18.720 --> 00:17:20.470 align:start position:0% to player the<00:17:18.959> the<00:17:19.120> model<00:17:19.360> that<00:17:19.520> we<00:17:19.679> had<00:17:19.919> it<00:17:20.000> was<00:17:20.240> it<00:17:20.319> was 00:17:20.470 --> 00:17:20.480 align:start position:0% the the model that we had it was it was 00:17:20.480 --> 00:17:22.150 align:start position:0% the the model that we had it was it was very<00:17:20.640> much<00:17:20.959> following<00:17:21.280> the<00:17:21.360> linux<00:17:21.760> model 00:17:22.150 --> 00:17:22.160 align:start position:0% very much following the linux model 00:17:22.160 --> 00:17:23.029 align:start position:0% very much following the linux model where 00:17:23.029 --> 00:17:23.039 align:start position:0% where 00:17:23.039 --> 00:17:23.990 align:start position:0% where the<00:17:23.199> way<00:17:23.360> we<00:17:23.439> looked<00:17:23.600> at<00:17:23.760> it<00:17:23.839> we<00:17:23.919> had 00:17:23.990 --> 00:17:24.000 align:start position:0% the way we looked at it we had 00:17:24.000 --> 00:17:25.909 align:start position:0% the way we looked at it we had essentially<00:17:24.400> built<00:17:24.720> a<00:17:24.799> kernel<00:17:25.280> there<00:17:25.439> was<00:17:25.600> a 00:17:25.909 --> 00:17:25.919 align:start position:0% essentially built a kernel there was a 00:17:25.919 --> 00:17:27.270 align:start position:0% essentially built a kernel there was a there<00:17:26.079> was<00:17:26.160> the<00:17:26.400> server<00:17:26.799> that<00:17:26.880> had<00:17:27.039> all<00:17:27.199> the 00:17:27.270 --> 00:17:27.280 align:start position:0% there was the server that had all the 00:17:27.280 --> 00:17:29.110 align:start position:0% there was the server that had all the infrastructure<00:17:27.839> in<00:17:28.000> it<00:17:28.079> for<00:17:28.400> exchanging 00:17:29.110 --> 00:17:29.120 align:start position:0% infrastructure in it for exchanging 00:17:29.120 --> 00:17:32.950 align:start position:0% infrastructure in it for exchanging messages<00:17:30.559> and<00:17:31.679> what<00:17:32.080> and<00:17:32.240> what<00:17:32.400> provided<00:17:32.799> new 00:17:32.950 --> 00:17:32.960 align:start position:0% messages and what and what provided new 00:17:32.960 --> 00:17:34.070 align:start position:0% messages and what and what provided new functionality<00:17:33.760> was 00:17:34.070 --> 00:17:34.080 align:start position:0% functionality was 00:17:34.080 --> 00:17:36.950 align:start position:0% functionality was drivers<00:17:35.039> so<00:17:35.280> if<00:17:35.600> if<00:17:35.679> there<00:17:35.840> was<00:17:36.000> a<00:17:36.320> new<00:17:36.480> imu 00:17:36.950 --> 00:17:36.960 align:start position:0% drivers so if if there was a new imu 00:17:36.960 --> 00:17:39.029 align:start position:0% drivers so if if there was a new imu came<00:17:37.200> out<00:17:37.360> or<00:17:37.440> a<00:17:37.520> new<00:17:37.760> camera<00:17:38.080> came<00:17:38.320> out<00:17:38.480> then 00:17:39.029 --> 00:17:39.039 align:start position:0% came out or a new camera came out then 00:17:39.039 --> 00:17:40.549 align:start position:0% came out or a new camera came out then you<00:17:39.200> could<00:17:39.360> add<00:17:39.600> support<00:17:39.840> to<00:17:40.000> that<00:17:40.080> by<00:17:40.320> writing 00:17:40.549 --> 00:17:40.559 align:start position:0% you could add support to that by writing 00:17:40.559 --> 00:17:41.909 align:start position:0% you could add support to that by writing a<00:17:40.720> driver<00:17:41.039> that<00:17:41.120> knows<00:17:41.360> how<00:17:41.520> to<00:17:41.600> talk<00:17:41.760> to<00:17:41.840> that 00:17:41.909 --> 00:17:41.919 align:start position:0% a driver that knows how to talk to that 00:17:41.919 --> 00:17:42.870 align:start position:0% a driver that knows how to talk to that piece<00:17:42.160> of<00:17:42.240> hardware 00:17:42.870 --> 00:17:42.880 align:start position:0% piece of hardware 00:17:42.880 --> 00:17:46.390 align:start position:0% piece of hardware and<00:17:43.440> um<00:17:44.400> you<00:17:44.480> know<00:17:44.720> originally<00:17:45.760> before 00:17:46.390 --> 00:17:46.400 align:start position:0% and um you know originally before 00:17:46.400 --> 00:17:48.549 align:start position:0% and um you know originally before making<00:17:46.720> a<00:17:46.799> new<00:17:46.960> release<00:17:47.280> of<00:17:47.440> player<00:17:47.760> i<00:17:47.840> used<00:17:48.080> to 00:17:48.549 --> 00:17:48.559 align:start position:0% making a new release of player i used to 00:17:48.559 --> 00:17:49.510 align:start position:0% making a new release of player i used to actually<00:17:48.960> test<00:17:49.280> it 00:17:49.510 --> 00:17:49.520 align:start position:0% actually test it 00:17:49.520 --> 00:17:51.029 align:start position:0% actually test it so<00:17:49.679> i<00:17:49.760> would<00:17:49.919> run<00:17:50.080> it<00:17:50.240> i<00:17:50.480> you<00:17:50.559> know<00:17:50.640> i'd<00:17:50.720> run<00:17:50.880> it 00:17:51.029 --> 00:17:51.039 align:start position:0% so i would run it i you know i'd run it 00:17:51.039 --> 00:17:52.630 align:start position:0% so i would run it i you know i'd run it on<00:17:51.200> our<00:17:51.360> pioneer<00:17:51.840> and<00:17:51.919> make<00:17:52.080> sure<00:17:52.320> everything 00:17:52.630 --> 00:17:52.640 align:start position:0% on our pioneer and make sure everything 00:17:52.640 --> 00:17:53.270 align:start position:0% on our pioneer and make sure everything worked 00:17:53.270 --> 00:17:53.280 align:start position:0% worked 00:17:53.280 --> 00:17:54.710 align:start position:0% worked but<00:17:53.520> pretty<00:17:53.760> quickly<00:17:54.160> because<00:17:54.400> of<00:17:54.480> all<00:17:54.559> the 00:17:54.710 --> 00:17:54.720 align:start position:0% but pretty quickly because of all the 00:17:54.720 --> 00:17:56.070 align:start position:0% but pretty quickly because of all the drivers<00:17:55.039> that<00:17:55.200> got<00:17:55.360> submitted<00:17:55.679> from<00:17:55.840> around 00:17:56.070 --> 00:17:56.080 align:start position:0% drivers that got submitted from around 00:17:56.080 --> 00:17:56.549 align:start position:0% drivers that got submitted from around the<00:17:56.160> world 00:17:56.549 --> 00:17:56.559 align:start position:0% the world 00:17:56.559 --> 00:17:58.470 align:start position:0% the world it<00:17:56.720> had<00:17:56.960> code<00:17:57.200> in<00:17:57.280> it<00:17:57.440> for<00:17:57.520> hardware<00:17:58.000> that<00:17:58.160> i 00:17:58.470 --> 00:17:58.480 align:start position:0% it had code in it for hardware that i 00:17:58.480 --> 00:18:00.390 align:start position:0% it had code in it for hardware that i had<00:17:58.640> never<00:17:58.880> seen<00:17:59.039> and<00:17:59.200> still<00:17:59.360> have<00:17:59.520> never<00:17:59.760> seen 00:18:00.390 --> 00:18:00.400 align:start position:0% had never seen and still have never seen 00:18:00.400 --> 00:18:03.190 align:start position:0% had never seen and still have never seen so<00:18:00.720> i<00:18:01.200> it<00:18:01.360> got<00:18:01.520> to<00:18:01.679> a<00:18:01.760> point<00:18:02.000> where<00:18:02.240> i<00:18:02.640> am<00:18:02.880> on<00:18:03.039> my 00:18:03.190 --> 00:18:03.200 align:start position:0% so i it got to a point where i am on my 00:18:03.200 --> 00:18:04.870 align:start position:0% so i it got to a point where i am on my own<00:18:03.440> couldn't<00:18:03.760> test<00:18:04.000> it<00:18:04.160> and<00:18:04.240> had<00:18:04.400> to<00:18:04.480> rely<00:18:04.720> on 00:18:04.870 --> 00:18:04.880 align:start position:0% own couldn't test it and had to rely on 00:18:04.880 --> 00:18:05.909 align:start position:0% own couldn't test it and had to rely on the<00:18:04.960> community 00:18:05.909 --> 00:18:05.919 align:start position:0% the community 00:18:05.919 --> 00:18:08.789 align:start position:0% the community to<00:18:06.320> to<00:18:06.480> do<00:18:06.720> quality<00:18:07.039> control<00:18:07.600> in<00:18:07.760> more<00:18:08.480> on<00:18:08.640> more 00:18:08.789 --> 00:18:08.799 align:start position:0% to to do quality control in more on more 00:18:08.799 --> 00:18:10.390 align:start position:0% to to do quality control in more on more of<00:18:08.960> a<00:18:09.039> continuous<00:18:09.520> basis 00:18:10.390 --> 00:18:10.400 align:start position:0% of a continuous basis 00:18:10.400 --> 00:18:12.230 align:start position:0% of a continuous basis and<00:18:10.559> what<00:18:10.720> did<00:18:10.880> robot<00:18:11.280> operating<00:18:11.760> systems 00:18:12.230 --> 00:18:12.240 align:start position:0% and what did robot operating systems 00:18:12.240 --> 00:18:14.950 align:start position:0% and what did robot operating systems look<00:18:12.400> like<00:18:12.720> prior<00:18:13.120> to<00:18:13.280> that 00:18:14.950 --> 00:18:14.960 align:start position:0% look like prior to that 00:18:14.960 --> 00:18:17.350 align:start position:0% look like prior to that what<00:18:15.200> else<00:18:15.360> were<00:18:15.520> people<00:18:15.840> using<00:18:16.160> at<00:18:16.320> that<00:18:16.480> time 00:18:17.350 --> 00:18:17.360 align:start position:0% what else were people using at that time 00:18:17.360 --> 00:18:18.470 align:start position:0% what else were people using at that time prior<00:18:17.679> to<00:18:17.919> player 00:18:18.470 --> 00:18:18.480 align:start position:0% prior to player 00:18:18.480 --> 00:18:21.510 align:start position:0% prior to player um<00:18:19.600> they're<00:18:20.720> i<00:18:20.799> don't<00:18:20.960> want<00:18:21.039> to<00:18:21.120> make<00:18:21.280> any 00:18:21.510 --> 00:18:21.520 align:start position:0% um they're i don't want to make any 00:18:21.520 --> 00:18:22.470 align:start position:0% um they're i don't want to make any broad<00:18:21.919> claims 00:18:22.470 --> 00:18:22.480 align:start position:0% broad claims 00:18:22.480 --> 00:18:25.430 align:start position:0% broad claims that<00:18:22.799> that<00:18:23.039> could<00:18:23.200> be<00:18:23.679> falsified<00:18:24.720> but<00:18:25.120> my 00:18:25.430 --> 00:18:25.440 align:start position:0% that that could be falsified but my 00:18:25.440 --> 00:18:27.350 align:start position:0% that that could be falsified but my experience<00:18:26.000> had<00:18:26.080> been<00:18:26.320> that<00:18:26.480> they<00:18:26.799> were<00:18:27.120> they 00:18:27.350 --> 00:18:27.360 align:start position:0% experience had been that they were they 00:18:27.360 --> 00:18:28.310 align:start position:0% experience had been that they were they tended<00:18:27.679> to<00:18:27.760> be 00:18:28.310 --> 00:18:28.320 align:start position:0% tended to be 00:18:28.320 --> 00:18:31.909 align:start position:0% tended to be um<00:18:29.600> libraries<00:18:30.640> that<00:18:31.200> you<00:18:31.360> would<00:18:31.600> link<00:18:31.760> your 00:18:31.909 --> 00:18:31.919 align:start position:0% um libraries that you would link your 00:18:31.919 --> 00:18:33.430 align:start position:0% um libraries that you would link your program<00:18:32.320> against<00:18:32.799> and 00:18:33.430 --> 00:18:33.440 align:start position:0% program against and 00:18:33.440 --> 00:18:34.789 align:start position:0% program against and that<00:18:33.600> they<00:18:33.760> had<00:18:34.000> embedded<00:18:34.400> in<00:18:34.559> them<00:18:34.720> the 00:18:34.789 --> 00:18:34.799 align:start position:0% that they had embedded in them the 00:18:34.799 --> 00:18:36.630 align:start position:0% that they had embedded in them the ability<00:18:35.280> to<00:18:35.440> talk<00:18:35.760> to 00:18:36.630 --> 00:18:36.640 align:start position:0% ability to talk to 00:18:36.640 --> 00:18:38.630 align:start position:0% ability to talk to certain<00:18:36.960> devices<00:18:38.160> and<00:18:38.240> that<00:18:38.400> that's 00:18:38.630 --> 00:18:38.640 align:start position:0% certain devices and that that's 00:18:38.640 --> 00:18:40.230 align:start position:0% certain devices and that that's certainly<00:18:38.960> the<00:18:39.039> way<00:18:39.200> that<00:18:39.360> iu<00:18:39.760> was<00:18:39.919> that<00:18:40.080> was 00:18:40.230 --> 00:18:40.240 align:start position:0% certainly the way that iu was that was 00:18:40.240 --> 00:18:41.190 align:start position:0% certainly the way that iu was that was the<00:18:40.320> software<00:18:40.720> that<00:18:40.799> we 00:18:41.190 --> 00:18:41.200 align:start position:0% the software that we 00:18:41.200 --> 00:18:43.990 align:start position:0% the software that we originally<00:18:41.600> used<00:18:41.760> in<00:18:41.840> the<00:18:41.919> pioneer<00:18:43.679> and<00:18:43.840> so 00:18:43.990 --> 00:18:44.000 align:start position:0% originally used in the pioneer and so 00:18:44.000 --> 00:18:45.270 align:start position:0% originally used in the pioneer and so the<00:18:44.160> innovation 00:18:45.270 --> 00:18:45.280 align:start position:0% the innovation 00:18:45.280 --> 00:18:47.590 align:start position:0% the innovation with<00:18:45.520> player<00:18:45.919> was<00:18:46.160> that<00:18:46.400> we<00:18:46.559> made<00:18:46.880> it<00:18:47.360> work 00:18:47.590 --> 00:18:47.600 align:start position:0% with player was that we made it work 00:18:47.600 --> 00:18:48.789 align:start position:0% with player was that we made it work across<00:18:47.919> the<00:18:48.000> network 00:18:48.789 --> 00:18:48.799 align:start position:0% across the network 00:18:48.799 --> 00:18:51.510 align:start position:0% across the network so<00:18:49.679> there<00:18:49.919> was<00:18:50.080> a<00:18:50.160> server<00:18:50.480> component<00:18:51.280> on<00:18:51.440> the 00:18:51.510 --> 00:18:51.520 align:start position:0% so there was a server component on the 00:18:51.520 --> 00:18:52.870 align:start position:0% so there was a server component on the robot<00:18:52.000> that<00:18:52.160> could<00:18:52.320> that<00:18:52.480> would<00:18:52.720> actually 00:18:52.870 --> 00:18:52.880 align:start position:0% robot that could that would actually 00:18:52.880 --> 00:18:54.310 align:start position:0% robot that could that would actually talk<00:18:53.039> to<00:18:53.200> all<00:18:53.280> the<00:18:53.360> devices<00:18:53.760> over<00:18:54.000> serial 00:18:54.310 --> 00:18:54.320 align:start position:0% talk to all the devices over serial 00:18:54.320 --> 00:18:56.470 align:start position:0% talk to all the devices over serial lines<00:18:54.559> and<00:18:54.720> usb<00:18:55.120> lines<00:18:55.440> and<00:18:55.840> firewire<00:18:56.400> and 00:18:56.470 --> 00:18:56.480 align:start position:0% lines and usb lines and firewire and 00:18:56.480 --> 00:18:57.669 align:start position:0% lines and usb lines and firewire and whatever 00:18:57.669 --> 00:18:57.679 align:start position:0% whatever 00:18:57.679 --> 00:18:59.270 align:start position:0% whatever but<00:18:57.840> you<00:18:58.000> wrote<00:18:58.240> your<00:18:58.400> control<00:18:58.799> program<00:18:59.200> the 00:18:59.270 --> 00:18:59.280 align:start position:0% but you wrote your control program the 00:18:59.280 --> 00:19:00.710 align:start position:0% but you wrote your control program the thing<00:18:59.440> that<00:18:59.679> decided<00:19:00.080> what<00:19:00.160> the<00:19:00.320> robot<00:19:00.559> was 00:19:00.710 --> 00:19:00.720 align:start position:0% thing that decided what the robot was 00:19:00.720 --> 00:19:01.590 align:start position:0% thing that decided what the robot was going<00:19:00.880> to<00:19:00.960> do 00:19:01.590 --> 00:19:01.600 align:start position:0% going to do 00:19:01.600 --> 00:19:03.029 align:start position:0% going to do on<00:19:01.760> the<00:19:02.000> other<00:19:02.320> side<00:19:02.559> of<00:19:02.640> a<00:19:02.720> network 00:19:03.029 --> 00:19:03.039 align:start position:0% on the other side of a network 00:19:03.039 --> 00:19:04.310 align:start position:0% on the other side of a network connection<00:19:03.600> and<00:19:03.679> that<00:19:03.840> meant<00:19:04.080> you<00:19:04.160> could 00:19:04.310 --> 00:19:04.320 align:start position:0% connection and that meant you could 00:19:04.320 --> 00:19:05.830 align:start position:0% connection and that meant you could write<00:19:04.480> it<00:19:04.640> in<00:19:04.720> any<00:19:04.880> language<00:19:05.280> that<00:19:05.440> you<00:19:05.520> wanted 00:19:05.830 --> 00:19:05.840 align:start position:0% write it in any language that you wanted 00:19:05.840 --> 00:19:07.430 align:start position:0% write it in any language that you wanted for<00:19:06.000> example<00:19:06.320> that<00:19:06.480> was<00:19:06.559> a<00:19:06.640> big<00:19:06.880> advantage<00:19:07.280> so 00:19:07.430 --> 00:19:07.440 align:start position:0% for example that was a big advantage so 00:19:07.440 --> 00:19:08.870 align:start position:0% for example that was a big advantage so you<00:19:07.600> could<00:19:07.840> there's<00:19:08.160> still<00:19:08.400> player 00:19:08.870 --> 00:19:08.880 align:start position:0% you could there's still player 00:19:08.880 --> 00:19:11.029 align:start position:0% you could there's still player client<00:19:09.200> libraries<00:19:09.679> in<00:19:09.840> c<00:19:10.160> and<00:19:10.240> c<00:19:10.480> plus<00:19:10.720> plus 00:19:11.029 --> 00:19:11.039 align:start position:0% client libraries in c and c plus plus 00:19:11.039 --> 00:19:12.150 align:start position:0% client libraries in c and c plus plus and<00:19:11.360> java<00:19:11.840> and 00:19:12.150 --> 00:19:12.160 align:start position:0% and java and 00:19:12.160 --> 00:19:14.950 align:start position:0% and java and lisp<00:19:12.640> and<00:19:13.120> ada<00:19:13.679> and<00:19:14.000> there<00:19:14.160> was<00:19:14.320> one<00:19:14.480> in<00:19:14.640> tickle 00:19:14.950 --> 00:19:14.960 align:start position:0% lisp and ada and there was one in tickle 00:19:14.960 --> 00:19:15.909 align:start position:0% lisp and ada and there was one in tickle for<00:19:15.120> a<00:19:15.200> while<00:19:15.440> so 00:19:15.909 --> 00:19:15.919 align:start position:0% for a while so 00:19:15.919 --> 00:19:17.830 align:start position:0% for a while so there<00:19:16.080> was<00:19:16.960> it<00:19:17.200> basically<00:19:17.600> made<00:19:17.760> the 00:19:17.830 --> 00:19:17.840 align:start position:0% there was it basically made the 00:19:17.840 --> 00:19:18.870 align:start position:0% there was it basically made the development<00:19:18.240> environment<00:19:18.559> a<00:19:18.559> lot<00:19:18.720> more 00:19:18.870 --> 00:19:18.880 align:start position:0% development environment a lot more 00:19:18.880 --> 00:19:20.230 align:start position:0% development environment a lot more flexible<00:19:19.360> to<00:19:19.520> have<00:19:19.679> that<00:19:19.840> network 00:19:20.230 --> 00:19:20.240 align:start position:0% flexible to have that network 00:19:20.240 --> 00:19:21.110 align:start position:0% flexible to have that network abstraction 00:19:21.110 --> 00:19:21.120 align:start position:0% abstraction 00:19:21.120 --> 00:19:26.230 align:start position:0% abstraction embedded<00:19:21.600> into<00:19:21.840> the<00:19:22.480> into<00:19:22.640> the<00:19:22.840> middleware 00:19:26.230 --> 00:19:26.240 align:start position:0% 00:19:26.240 --> 00:19:30.070 align:start position:0% and<00:19:26.480> so<00:19:27.600> um<00:19:28.720> so<00:19:28.880> i<00:19:28.960> think<00:19:29.200> that<00:19:29.520> brings<00:19:29.919> us 00:19:30.070 --> 00:19:30.080 align:start position:0% and so um so i think that brings us 00:19:30.080 --> 00:19:31.430 align:start position:0% and so um so i think that brings us practically<00:19:30.720> to 00:19:31.430 --> 00:19:31.440 align:start position:0% practically to 00:19:31.440 --> 00:19:33.590 align:start position:0% practically to willow<00:19:31.840> and<00:19:32.320> you<00:19:32.799> getting<00:19:33.039> into<00:19:33.200> willow<00:19:33.520> and 00:19:33.590 --> 00:19:33.600 align:start position:0% willow and you getting into willow and 00:19:33.600 --> 00:19:35.190 align:start position:0% willow and you getting into willow and the<00:19:33.679> kinds<00:19:33.840> of<00:19:33.919> things<00:19:34.160> you<00:19:34.400> started 00:19:35.190 --> 00:19:35.200 align:start position:0% the kinds of things you started 00:19:35.200 --> 00:19:37.029 align:start position:0% the kinds of things you started working<00:19:35.600> on<00:19:35.840> when<00:19:36.000> you<00:19:36.160> were<00:19:36.320> here<00:19:36.720> so<00:19:36.880> could 00:19:37.029 --> 00:19:37.039 align:start position:0% working on when you were here so could 00:19:37.039 --> 00:19:38.950 align:start position:0% working on when you were here so could you<00:19:37.200> tell<00:19:37.360> us<00:19:37.600> a<00:19:37.679> little<00:19:37.840> bit<00:19:38.000> about<00:19:38.240> that 00:19:38.950 --> 00:19:38.960 align:start position:0% you tell us a little bit about that 00:19:38.960 --> 00:19:41.990 align:start position:0% you tell us a little bit about that sure<00:19:39.280> what<00:19:39.440> was<00:19:39.600> that<00:19:39.760> like<00:19:41.360> yeah<00:19:41.520> so<00:19:41.760> like<00:19:41.919> i 00:19:41.990 --> 00:19:42.000 align:start position:0% sure what was that like yeah so like i 00:19:42.000 --> 00:19:42.870 align:start position:0% sure what was that like yeah so like i said<00:19:42.240> you<00:19:42.320> know<00:19:42.559> i 00:19:42.870 --> 00:19:42.880 align:start position:0% said you know i 00:19:42.880 --> 00:19:46.310 align:start position:0% said you know i eric<00:19:43.120> and<00:19:43.280> i<00:19:43.360> had<00:19:43.520> interacted<00:19:44.000> at<00:19:44.160> stanford<00:19:44.799> um 00:19:46.310 --> 00:19:46.320 align:start position:0% eric and i had interacted at stanford um 00:19:46.320 --> 00:19:48.150 align:start position:0% eric and i had interacted at stanford um because<00:19:46.640> he<00:19:46.799> was<00:19:47.120> he<00:19:47.280> was<00:19:47.440> actually<00:19:47.679> using 00:19:48.150 --> 00:19:48.160 align:start position:0% because he was he was actually using 00:19:48.160 --> 00:19:50.630 align:start position:0% because he was he was actually using player<00:19:48.720> on<00:19:49.120> a<00:19:49.360> robot<00:19:49.760> that<00:19:50.000> he<00:19:50.160> was<00:19:50.320> building 00:19:50.630 --> 00:19:50.640 align:start position:0% player on a robot that he was building 00:19:50.640 --> 00:19:51.190 align:start position:0% player on a robot that he was building there 00:19:51.190 --> 00:19:51.200 align:start position:0% there 00:19:51.200 --> 00:19:54.390 align:start position:0% there so<00:19:51.679> uh<00:19:52.080> when<00:19:52.559> when<00:19:52.799> he<00:19:53.520> and<00:19:53.919> keenan<00:19:54.240> were 00:19:54.390 --> 00:19:54.400 align:start position:0% so uh when when he and keenan were 00:19:54.400 --> 00:19:55.830 align:start position:0% so uh when when he and keenan were moving<00:19:54.640> over<00:19:54.799> to<00:19:54.960> willow 00:19:55.830 --> 00:19:55.840 align:start position:0% moving over to willow 00:19:55.840 --> 00:19:58.710 align:start position:0% moving over to willow and<00:19:56.000> they<00:19:56.160> had<00:19:56.480> the<00:19:57.280> had<00:19:57.520> the<00:19:57.760> idea<00:19:58.160> that<00:19:58.559> we 00:19:58.710 --> 00:19:58.720 align:start position:0% and they had the had the idea that we 00:19:58.720 --> 00:20:00.390 align:start position:0% and they had the had the idea that we should<00:19:58.960> build<00:19:59.440> uh<00:19:59.760> you<00:19:59.919> know<00:20:00.080> a<00:20:00.160> next 00:20:00.390 --> 00:20:00.400 align:start position:0% should build uh you know a next 00:20:00.400 --> 00:20:01.590 align:start position:0% should build uh you know a next generation 00:20:01.590 --> 00:20:01.600 align:start position:0% generation 00:20:01.600 --> 00:20:05.350 align:start position:0% generation robot<00:20:01.919> software<00:20:02.320> infrastructure<00:20:03.440> he 00:20:05.350 --> 00:20:05.360 align:start position:0% robot software infrastructure he 00:20:05.360 --> 00:20:07.990 align:start position:0% robot software infrastructure he came<00:20:05.679> to<00:20:05.760> me<00:20:05.919> and<00:20:06.080> said<00:20:06.240> well<00:20:06.720> you<00:20:06.880> know<00:20:07.120> if<00:20:07.760> we 00:20:07.990 --> 00:20:08.000 align:start position:0% came to me and said well you know if we 00:20:08.000 --> 00:20:09.190 align:start position:0% came to me and said well you know if we help<00:20:08.240> us<00:20:08.400> build<00:20:08.720> this 00:20:09.190 --> 00:20:09.200 align:start position:0% help us build this 00:20:09.200 --> 00:20:12.630 align:start position:0% help us build this and<00:20:09.679> and<00:20:09.840> that<00:20:10.960> that's<00:20:11.360> that's<00:20:11.679> what<00:20:11.919> became 00:20:12.630 --> 00:20:12.640 align:start position:0% and and that that's that's what became 00:20:12.640 --> 00:20:15.029 align:start position:0% and and that that's that's what became uh<00:20:13.280> ross<00:20:13.679> was<00:20:13.919> the<00:20:14.159> was<00:20:14.320> the<00:20:14.400> thing<00:20:14.640> we<00:20:14.720> started 00:20:15.029 --> 00:20:15.039 align:start position:0% uh ross was the was the thing we started 00:20:15.039 --> 00:20:16.710 align:start position:0% uh ross was the was the thing we started building<00:20:15.520> um<00:20:15.840> we<00:20:15.919> were<00:20:16.000> working<00:20:16.320> closely<00:20:16.640> with 00:20:16.710 --> 00:20:16.720 align:start position:0% building um we were working closely with 00:20:16.720 --> 00:20:17.590 align:start position:0% building um we were working closely with morgan<00:20:17.120> quigley 00:20:17.590 --> 00:20:17.600 align:start position:0% morgan quigley 00:20:17.600 --> 00:20:20.310 align:start position:0% morgan quigley at<00:20:17.679> stanford<00:20:18.159> who<00:20:18.320> had<00:20:18.480> started<00:20:19.039> have<00:20:19.200> been 00:20:20.310 --> 00:20:20.320 align:start position:0% at stanford who had started have been 00:20:20.320 --> 00:20:21.909 align:start position:0% at stanford who had started have been writing<00:20:20.559> something<00:20:20.799> he<00:20:20.960> called<00:20:21.120> switch<00:20:21.440> yard 00:20:21.909 --> 00:20:21.919 align:start position:0% writing something he called switch yard 00:20:21.919 --> 00:20:23.909 align:start position:0% writing something he called switch yard and<00:20:22.000> that<00:20:22.159> was<00:20:22.320> the<00:20:22.400> thing<00:20:22.559> that<00:20:22.720> he<00:20:22.880> built<00:20:23.679> to 00:20:23.909 --> 00:20:23.919 align:start position:0% and that was the thing that he built to 00:20:23.919 --> 00:20:25.830 align:start position:0% and that was the thing that he built to use 00:20:25.830 --> 00:20:25.840 align:start position:0% use 00:20:25.840 --> 00:20:27.590 align:start position:0% use to<00:20:26.240> counter<00:20:26.559> some<00:20:26.720> of<00:20:26.799> the<00:20:26.880> limitations<00:20:27.520> in 00:20:27.590 --> 00:20:27.600 align:start position:0% to counter some of the limitations in 00:20:27.600 --> 00:20:29.270 align:start position:0% to counter some of the limitations in players<00:20:27.919> so<00:20:28.080> we<00:20:28.240> took<00:20:28.400> some<00:20:28.559> ideas 00:20:29.270 --> 00:20:29.280 align:start position:0% players so we took some ideas 00:20:29.280 --> 00:20:31.430 align:start position:0% players so we took some ideas in<00:20:29.600> switch<00:20:30.000> yard<00:20:30.320> and<00:20:30.720> morphed<00:20:31.120> them<00:20:31.280> and 00:20:31.430 --> 00:20:31.440 align:start position:0% in switch yard and morphed them and 00:20:31.440 --> 00:20:32.630 align:start position:0% in switch yard and morphed them and iterated<00:20:31.919> on<00:20:32.080> them 00:20:32.630 --> 00:20:32.640 align:start position:0% iterated on them 00:20:32.640 --> 00:20:34.070 align:start position:0% iterated on them you<00:20:32.799> know<00:20:32.880> there<00:20:33.039> was<00:20:33.200> about<00:20:33.360> a<00:20:33.520> year<00:20:33.760> there 00:20:34.070 --> 00:20:34.080 align:start position:0% you know there was about a year there 00:20:34.080 --> 00:20:36.070 align:start position:0% you know there was about a year there where<00:20:34.640> if<00:20:34.720> you<00:20:34.880> had<00:20:35.039> come<00:20:35.200> to<00:20:35.360> ross<00:20:35.679> and<00:20:35.760> tried 00:20:36.070 --> 00:20:36.080 align:start position:0% where if you had come to ross and tried 00:20:36.080 --> 00:20:37.190 align:start position:0% where if you had come to ross and tried it<00:20:36.320> then<00:20:36.640> i'm 00:20:37.190 --> 00:20:37.200 align:start position:0% it then i'm 00:20:37.200 --> 00:20:39.270 align:start position:0% it then i'm i<00:20:37.440> apologize<00:20:38.080> profusely<00:20:38.640> because<00:20:38.960> it<00:20:39.039> was 00:20:39.270 --> 00:20:39.280 align:start position:0% i apologize profusely because it was 00:20:39.280 --> 00:20:40.549 align:start position:0% i apologize profusely because it was terrible<00:20:39.760> and<00:20:39.840> it<00:20:39.919> was 00:20:40.549 --> 00:20:40.559 align:start position:0% terrible and it was 00:20:40.559 --> 00:20:43.590 align:start position:0% terrible and it was terrible<00:20:40.960> in<00:20:41.039> a<00:20:41.120> different<00:20:41.360> way<00:20:41.520> every<00:20:41.760> day<00:20:42.799> uh 00:20:43.590 --> 00:20:43.600 align:start position:0% terrible in a different way every day uh 00:20:43.600 --> 00:20:45.669 align:start position:0% terrible in a different way every day uh but<00:20:43.919> eventually<00:20:44.480> we<00:20:44.640> settled<00:20:44.960> on<00:20:45.120> what<00:20:45.200> we 00:20:45.669 --> 00:20:45.679 align:start position:0% but eventually we settled on what we 00:20:45.679 --> 00:20:47.350 align:start position:0% but eventually we settled on what we still<00:20:45.919> feel<00:20:46.080> like<00:20:46.240> is<00:20:46.400> a<00:20:46.480> pretty<00:20:46.640> good<00:20:46.799> design 00:20:47.350 --> 00:20:47.360 align:start position:0% still feel like is a pretty good design 00:20:47.360 --> 00:20:49.990 align:start position:0% still feel like is a pretty good design for<00:20:47.520> uh<00:20:47.919> for<00:20:48.080> a<00:20:48.159> piece<00:20:48.320> of<00:20:48.400> robot<00:20:48.720> middleware 00:20:49.990 --> 00:20:50.000 align:start position:0% for uh for a piece of robot middleware 00:20:50.000 --> 00:20:50.630 align:start position:0% for uh for a piece of robot middleware what<00:20:50.159> were<00:20:50.320> the 00:20:50.630 --> 00:20:50.640 align:start position:0% what were the 00:20:50.640 --> 00:20:52.070 align:start position:0% what were the problems<00:20:51.039> you<00:20:51.120> were<00:20:51.280> running<00:20:51.520> into<00:20:51.840> in<00:20:51.919> those 00:20:52.070 --> 00:20:52.080 align:start position:0% problems you were running into in those 00:20:52.080 --> 00:20:53.990 align:start position:0% problems you were running into in those early<00:20:52.320> days<00:20:52.559> that<00:20:52.720> made<00:20:52.960> it<00:20:53.200> be<00:20:53.440> terrible<00:20:53.840> in 00:20:53.990 --> 00:20:54.000 align:start position:0% early days that made it be terrible in 00:20:54.000 --> 00:20:55.750 align:start position:0% early days that made it be terrible in different<00:20:54.240> ways<00:20:54.480> from<00:20:54.640> day<00:20:54.799> to<00:20:54.960> day 00:20:55.750 --> 00:20:55.760 align:start position:0% different ways from day to day 00:20:55.760 --> 00:20:57.110 align:start position:0% different ways from day to day well<00:20:56.159> i<00:20:56.320> think<00:20:56.480> it's<00:20:56.640> the<00:20:56.720> problem<00:20:56.960> that<00:20:57.039> you 00:20:57.110 --> 00:20:57.120 align:start position:0% well i think it's the problem that you 00:20:57.120 --> 00:20:59.430 align:start position:0% well i think it's the problem that you have<00:20:57.360> on<00:20:57.600> any<00:20:57.840> new<00:20:58.159> project<00:20:58.720> there's<00:20:59.120> such<00:20:59.360> a 00:20:59.430 --> 00:20:59.440 align:start position:0% have on any new project there's such a 00:20:59.440 --> 00:21:00.390 align:start position:0% have on any new project there's such a big<00:20:59.760> space 00:21:00.390 --> 00:21:00.400 align:start position:0% big space 00:21:00.400 --> 00:21:04.470 align:start position:0% big space of<00:21:01.919> designs<00:21:02.720> that<00:21:03.200> that<00:21:03.360> you<00:21:03.520> might<00:21:03.760> try 00:21:04.470 --> 00:21:04.480 align:start position:0% of designs that that you might try 00:21:04.480 --> 00:21:06.710 align:start position:0% of designs that that you might try and<00:21:05.679> especially<00:21:06.080> when<00:21:06.240> you're<00:21:06.400> building 00:21:06.710 --> 00:21:06.720 align:start position:0% and especially when you're building 00:21:06.720 --> 00:21:08.149 align:start position:0% and especially when you're building essentially<00:21:07.120> a<00:21:07.200> toolbox<00:21:07.760> you<00:21:07.919> don't<00:21:08.000> know 00:21:08.149 --> 00:21:08.159 align:start position:0% essentially a toolbox you don't know 00:21:08.159 --> 00:21:09.750 align:start position:0% essentially a toolbox you don't know exactly<00:21:08.480> what<00:21:08.640> it's<00:21:08.720> going<00:21:08.799> to<00:21:08.880> be<00:21:09.039> used<00:21:09.280> for 00:21:09.750 --> 00:21:09.760 align:start position:0% exactly what it's going to be used for 00:21:09.760 --> 00:21:13.190 align:start position:0% exactly what it's going to be used for so<00:21:10.320> it's<00:21:10.880> very<00:21:11.120> hard<00:21:11.520> to<00:21:12.640> to<00:21:12.799> make<00:21:12.960> the 00:21:13.190 --> 00:21:13.200 align:start position:0% so it's very hard to to make the 00:21:13.200 --> 00:21:14.149 align:start position:0% so it's very hard to to make the trade-offs 00:21:14.149 --> 00:21:14.159 align:start position:0% trade-offs 00:21:14.159 --> 00:21:17.350 align:start position:0% trade-offs in<00:21:14.320> a<00:21:14.480> principled<00:21:14.960> way<00:21:15.760> because<00:21:16.799> you<00:21:17.039> don't 00:21:17.350 --> 00:21:17.360 align:start position:0% in a principled way because you don't 00:21:17.360 --> 00:21:18.390 align:start position:0% in a principled way because you don't know<00:21:17.679> exactly 00:21:18.390 --> 00:21:18.400 align:start position:0% know exactly 00:21:18.400 --> 00:21:19.750 align:start position:0% know exactly who's<00:21:18.640> going<00:21:18.720> to<00:21:18.799> use<00:21:18.960> it<00:21:19.039> for<00:21:19.200> what<00:21:19.440> so<00:21:19.600> you're 00:21:19.750 --> 00:21:19.760 align:start position:0% who's going to use it for what so you're 00:21:19.760 --> 00:21:21.190 align:start position:0% who's going to use it for what so you're trying<00:21:20.000> to<00:21:20.080> be<00:21:20.240> general<00:21:20.559> but<00:21:20.720> you're<00:21:20.880> also 00:21:21.190 --> 00:21:21.200 align:start position:0% trying to be general but you're also 00:21:21.200 --> 00:21:22.149 align:start position:0% trying to be general but you're also trying<00:21:21.440> to<00:21:21.600> be 00:21:22.149 --> 00:21:22.159 align:start position:0% trying to be 00:21:22.159 --> 00:21:24.230 align:start position:0% trying to be efficient<00:21:22.880> and<00:21:23.120> easy<00:21:23.360> to<00:21:23.520> use<00:21:23.760> and<00:21:23.919> all<00:21:24.080> these 00:21:24.230 --> 00:21:24.240 align:start position:0% efficient and easy to use and all these 00:21:24.240 --> 00:21:25.830 align:start position:0% efficient and easy to use and all these other<00:21:24.400> things<00:21:24.720> that<00:21:25.120> tend<00:21:25.280> to<00:21:25.440> trade<00:21:25.679> off 00:21:25.830 --> 00:21:25.840 align:start position:0% other things that tend to trade off 00:21:25.840 --> 00:21:27.350 align:start position:0% other things that tend to trade off against<00:21:26.159> generality 00:21:27.350 --> 00:21:27.360 align:start position:0% against generality 00:21:27.360 --> 00:21:29.190 align:start position:0% against generality so<00:21:27.600> what<00:21:27.760> would<00:21:27.919> happen<00:21:28.240> is<00:21:28.320> that<00:21:28.559> we<00:21:28.799> would<00:21:29.039> go 00:21:29.190 --> 00:21:29.200 align:start position:0% so what would happen is that we would go 00:21:29.200 --> 00:21:31.430 align:start position:0% so what would happen is that we would go down<00:21:29.360> one<00:21:29.600> path<00:21:29.840> for<00:21:30.000> a<00:21:30.080> while<00:21:30.400> and<00:21:30.559> then 00:21:31.430 --> 00:21:31.440 align:start position:0% down one path for a while and then 00:21:31.440 --> 00:21:33.430 align:start position:0% down one path for a while and then you<00:21:31.520> know<00:21:32.320> convince<00:21:32.720> ourselves<00:21:33.120> that<00:21:33.200> that 00:21:33.430 --> 00:21:33.440 align:start position:0% you know convince ourselves that that 00:21:33.440 --> 00:21:34.870 align:start position:0% you know convince ourselves that that was<00:21:33.760> that<00:21:33.919> was<00:21:34.080> probably<00:21:34.320> not<00:21:34.480> a<00:21:34.559> good<00:21:34.640> way<00:21:34.799> to 00:21:34.870 --> 00:21:34.880 align:start position:0% was that was probably not a good way to 00:21:34.880 --> 00:21:35.270 align:start position:0% was that was probably not a good way to do<00:21:35.039> it 00:21:35.270 --> 00:21:35.280 align:start position:0% do it 00:21:35.280 --> 00:21:37.190 align:start position:0% do it and<00:21:35.360> then<00:21:35.919> throw<00:21:36.080> it<00:21:36.240> all<00:21:36.320> away<00:21:36.640> and<00:21:36.799> then 00:21:37.190 --> 00:21:37.200 align:start position:0% and then throw it all away and then 00:21:37.200 --> 00:21:38.549 align:start position:0% and then throw it all away and then write<00:21:37.440> a<00:21:37.520> new<00:21:37.679> one<00:21:37.760> and<00:21:37.840> go<00:21:37.919> down<00:21:38.080> another<00:21:38.320> path 00:21:38.549 --> 00:21:38.559 align:start position:0% write a new one and go down another path 00:21:38.559 --> 00:21:39.669 align:start position:0% write a new one and go down another path for<00:21:38.640> a<00:21:38.720> while<00:21:39.039> and<00:21:39.120> then 00:21:39.669 --> 00:21:39.679 align:start position:0% for a while and then 00:21:39.679 --> 00:21:41.909 align:start position:0% for a while and then throw<00:21:39.919> that<00:21:40.080> one<00:21:40.240> away<00:21:40.559> and<00:21:40.880> i<00:21:40.960> think<00:21:41.520> but<00:21:41.760> the 00:21:41.909 --> 00:21:41.919 align:start position:0% throw that one away and i think but the 00:21:41.919 --> 00:21:43.590 align:start position:0% throw that one away and i think but the hope<00:21:42.159> is<00:21:42.320> that<00:21:42.480> you<00:21:42.640> get<00:21:42.799> closer<00:21:43.120> and<00:21:43.200> closer 00:21:43.590 --> 00:21:43.600 align:start position:0% hope is that you get closer and closer 00:21:43.600 --> 00:21:44.390 align:start position:0% hope is that you get closer and closer to 00:21:44.390 --> 00:21:44.400 align:start position:0% to 00:21:44.400 --> 00:21:46.070 align:start position:0% to a<00:21:44.559> good<00:21:44.799> design<00:21:45.200> as<00:21:45.280> you<00:21:45.600> go<00:21:45.760> through<00:21:45.919> that 00:21:46.070 --> 00:21:46.080 align:start position:0% a good design as you go through that 00:21:46.080 --> 00:21:47.990 align:start position:0% a good design as you go through that process 00:21:47.990 --> 00:21:48.000 align:start position:0% process 00:21:48.000 --> 00:21:50.149 align:start position:0% process and<00:21:48.159> what<00:21:48.320> were<00:21:48.480> some<00:21:48.640> of<00:21:48.720> the<00:21:49.360> concepts<00:21:50.000> and 00:21:50.149 --> 00:21:50.159 align:start position:0% and what were some of the concepts and 00:21:50.159 --> 00:21:51.909 align:start position:0% and what were some of the concepts and design<00:21:50.480> elements<00:21:50.880> of<00:21:50.960> switch<00:21:51.280> yarn<00:21:51.600> that<00:21:51.760> you 00:21:51.909 --> 00:21:51.919 align:start position:0% design elements of switch yarn that you 00:21:51.919 --> 00:21:53.029 align:start position:0% design elements of switch yarn that you were<00:21:52.080> able<00:21:52.240> to 00:21:53.029 --> 00:21:53.039 align:start position:0% were able to 00:21:53.039 --> 00:21:56.470 align:start position:0% were able to leverage<00:21:54.960> well<00:21:55.919> i'd<00:21:56.159> say 00:21:56.470 --> 00:21:56.480 align:start position:0% leverage well i'd say 00:21:56.480 --> 00:21:58.549 align:start position:0% leverage well i'd say the<00:21:56.640> biggest<00:21:56.960> thing<00:21:57.200> that<00:21:57.360> ross<00:21:58.240> borrowed 00:21:58.549 --> 00:21:58.559 align:start position:0% the biggest thing that ross borrowed 00:21:58.559 --> 00:22:00.870 align:start position:0% the biggest thing that ross borrowed from<00:21:58.720> switchyard<00:21:59.280> was<00:21:59.520> a<00:21:59.919> peer-to-peer 00:22:00.870 --> 00:22:00.880 align:start position:0% from switchyard was a peer-to-peer 00:22:00.880 --> 00:22:03.029 align:start position:0% from switchyard was a peer-to-peer setup<00:22:01.440> so<00:22:01.760> player<00:22:02.000> had<00:22:02.159> been<00:22:02.320> a<00:22:02.400> client<00:22:02.720> server 00:22:03.029 --> 00:22:03.039 align:start position:0% setup so player had been a client server 00:22:03.039 --> 00:22:04.630 align:start position:0% setup so player had been a client server architecture<00:22:03.600> which<00:22:03.840> is 00:22:04.630 --> 00:22:04.640 align:start position:0% architecture which is 00:22:04.640 --> 00:22:07.909 align:start position:0% architecture which is easier<00:22:05.039> to<00:22:05.200> write<00:22:05.600> but<00:22:06.240> and<00:22:06.720> easier<00:22:07.039> to<00:22:07.200> use 00:22:07.909 --> 00:22:07.919 align:start position:0% easier to write but and easier to use 00:22:07.919 --> 00:22:10.710 align:start position:0% easier to write but and easier to use but<00:22:08.640> not<00:22:09.039> as<00:22:09.360> flexible<00:22:10.000> as<00:22:10.159> a<00:22:10.240> distributed 00:22:10.710 --> 00:22:10.720 align:start position:0% but not as flexible as a distributed 00:22:10.720 --> 00:22:12.070 align:start position:0% but not as flexible as a distributed peer-to-peer<00:22:11.280> architecture 00:22:12.070 --> 00:22:12.080 align:start position:0% peer-to-peer architecture 00:22:12.080 --> 00:22:13.510 align:start position:0% peer-to-peer architecture so<00:22:12.240> that<00:22:12.400> that<00:22:12.640> was<00:22:12.799> one<00:22:12.960> piece<00:22:13.200> that<00:22:13.360> we 00:22:13.510 --> 00:22:13.520 align:start position:0% so that that was one piece that we 00:22:13.520 --> 00:22:15.430 align:start position:0% so that that was one piece that we borrowed<00:22:14.559> from<00:22:14.720> switzerland 00:22:15.430 --> 00:22:15.440 align:start position:0% borrowed from switzerland 00:22:15.440 --> 00:22:18.230 align:start position:0% borrowed from switzerland this<00:22:15.679> idea<00:22:16.000> that<00:22:16.559> you're<00:22:17.120> you're<00:22:17.600> necessarily 00:22:18.230 --> 00:22:18.240 align:start position:0% this idea that you're you're necessarily 00:22:18.240 --> 00:22:20.310 align:start position:0% this idea that you're you're necessarily setting<00:22:18.480> up<00:22:18.640> a<00:22:18.799> distributed<00:22:19.360> computing 00:22:20.310 --> 00:22:20.320 align:start position:0% setting up a distributed computing 00:22:20.320 --> 00:22:23.350 align:start position:0% setting up a distributed computing system<00:22:20.880> that<00:22:21.200> is<00:22:21.280> composed<00:22:21.840> of<00:22:22.080> many<00:22:22.400> nodes 00:22:23.350 --> 00:22:23.360 align:start position:0% system that is composed of many nodes 00:22:23.360 --> 00:22:25.909 align:start position:0% system that is composed of many nodes and<00:22:23.679> that<00:22:23.840> those<00:22:24.320> nodes<00:22:24.799> talk<00:22:24.960> to<00:22:25.120> each<00:22:25.280> other 00:22:25.909 --> 00:22:25.919 align:start position:0% and that those nodes talk to each other 00:22:25.919 --> 00:22:26.950 align:start position:0% and that those nodes talk to each other about 00:22:26.950 --> 00:22:26.960 align:start position:0% about 00:22:26.960 --> 00:22:29.669 align:start position:0% about the<00:22:27.280> connections<00:22:27.760> between<00:22:28.000> the<00:22:28.159> nodes<00:22:28.720> are 00:22:29.669 --> 00:22:29.679 align:start position:0% the connections between the nodes are 00:22:29.679 --> 00:22:31.190 align:start position:0% the connections between the nodes are according<00:22:30.080> to<00:22:30.159> whatever<00:22:30.480> information<00:22:30.960> needs 00:22:31.190 --> 00:22:31.200 align:start position:0% according to whatever information needs 00:22:31.200 --> 00:22:33.029 align:start position:0% according to whatever information needs to<00:22:31.280> be<00:22:31.440> shared<00:22:31.760> between<00:22:32.080> them 00:22:33.029 --> 00:22:33.039 align:start position:0% to be shared between them 00:22:33.039 --> 00:22:36.470 align:start position:0% to be shared between them we<00:22:33.200> also<00:22:33.440> borrowed<00:22:34.799> the<00:22:34.960> idea<00:22:36.000> an<00:22:36.080> idea<00:22:36.320> from 00:22:36.470 --> 00:22:36.480 align:start position:0% we also borrowed the idea an idea from 00:22:36.480 --> 00:22:38.149 align:start position:0% we also borrowed the idea an idea from switcher<00:22:36.960> which<00:22:37.120> really<00:22:37.280> came<00:22:37.520> from<00:22:37.760> unix 00:22:38.149 --> 00:22:38.159 align:start position:0% switcher which really came from unix 00:22:38.159 --> 00:22:39.190 align:start position:0% switcher which really came from unix before<00:22:38.559> it 00:22:39.190 --> 00:22:39.200 align:start position:0% before it 00:22:39.200 --> 00:22:40.789 align:start position:0% before it which<00:22:39.440> is<00:22:39.600> that<00:22:39.919> in<00:22:40.000> building<00:22:40.320> complex 00:22:40.789 --> 00:22:40.799 align:start position:0% which is that in building complex 00:22:40.799 --> 00:22:42.870 align:start position:0% which is that in building complex systems<00:22:41.840> a<00:22:42.000> good<00:22:42.240> way 00:22:42.870 --> 00:22:42.880 align:start position:0% systems a good way 00:22:42.880 --> 00:22:45.830 align:start position:0% systems a good way to<00:22:43.200> make<00:22:43.440> progress<00:22:43.919> is<00:22:44.000> to<00:22:44.159> build<00:22:44.400> small<00:22:44.880> tools 00:22:45.830 --> 00:22:45.840 align:start position:0% to make progress is to build small tools 00:22:45.840 --> 00:22:46.789 align:start position:0% to make progress is to build small tools that 00:22:46.789 --> 00:22:46.799 align:start position:0% that 00:22:46.799 --> 00:22:48.789 align:start position:0% that where<00:22:47.039> each<00:22:47.200> tool<00:22:47.520> does<00:22:47.679> something<00:22:48.240> specific 00:22:48.789 --> 00:22:48.799 align:start position:0% where each tool does something specific 00:22:48.799 --> 00:22:50.149 align:start position:0% where each tool does something specific and<00:22:48.960> does<00:22:49.120> it<00:22:49.280> really<00:22:49.520> well 00:22:50.149 --> 00:22:50.159 align:start position:0% and does it really well 00:22:50.159 --> 00:22:51.830 align:start position:0% and does it really well and<00:22:50.320> you<00:22:50.480> design<00:22:50.720> tools<00:22:51.039> to<00:22:51.120> be<00:22:51.360> composed 00:22:51.830 --> 00:22:51.840 align:start position:0% and you design tools to be composed 00:22:51.840 --> 00:22:53.750 align:start position:0% and you design tools to be composed together<00:22:52.400> to<00:22:52.880> give<00:22:53.039> you<00:22:53.120> the<00:22:53.280> behavior<00:22:53.679> you 00:22:53.750 --> 00:22:53.760 align:start position:0% together to give you the behavior you 00:22:53.760 --> 00:22:53.990 align:start position:0% together to give you the behavior you want 00:22:53.990 --> 00:22:54.000 align:start position:0% want 00:22:54.000 --> 00:22:55.669 align:start position:0% want so<00:22:54.159> if<00:22:54.240> you're<00:22:54.320> familiar<00:22:54.640> with<00:22:54.720> unix<00:22:55.120> there 00:22:55.669 --> 00:22:55.679 align:start position:0% so if you're familiar with unix there 00:22:55.679 --> 00:22:57.190 align:start position:0% so if you're familiar with unix there it's<00:22:55.919> full<00:22:56.080> of<00:22:56.159> command<00:22:56.480> line<00:22:56.720> tools<00:22:57.039> that<00:22:57.120> you 00:22:57.190 --> 00:22:57.200 align:start position:0% it's full of command line tools that you 00:22:57.200 --> 00:22:58.870 align:start position:0% it's full of command line tools that you can<00:22:57.360> string<00:22:57.679> together<00:22:57.919> in<00:22:58.080> interesting<00:22:58.480> ways 00:22:58.870 --> 00:22:58.880 align:start position:0% can string together in interesting ways 00:22:58.880 --> 00:23:00.710 align:start position:0% can string together in interesting ways to<00:22:58.960> do<00:22:59.200> very<00:22:59.440> powerful<00:22:59.919> things 00:23:00.710 --> 00:23:00.720 align:start position:0% to do very powerful things 00:23:00.720 --> 00:23:02.310 align:start position:0% to do very powerful things and<00:23:00.880> that<00:23:01.039> was<00:23:01.200> the<00:23:01.440> design<00:23:01.840> philosophy 00:23:02.310 --> 00:23:02.320 align:start position:0% and that was the design philosophy 00:23:02.320 --> 00:23:04.310 align:start position:0% and that was the design philosophy behind<00:23:02.559> switchyard<00:23:03.039> and<00:23:03.200> also<00:23:03.520> ross 00:23:04.310 --> 00:23:04.320 align:start position:0% behind switchyard and also ross 00:23:04.320 --> 00:23:06.390 align:start position:0% behind switchyard and also ross we<00:23:04.480> don't<00:23:04.720> build<00:23:05.280> a<00:23:05.360> monolithic<00:23:06.000> system<00:23:06.320> that 00:23:06.390 --> 00:23:06.400 align:start position:0% we don't build a monolithic system that 00:23:06.400 --> 00:23:08.710 align:start position:0% we don't build a monolithic system that does<00:23:06.559> a<00:23:06.720> particular<00:23:07.120> thing<00:23:07.280> we<00:23:07.440> give<00:23:07.679> you<00:23:07.840> a 00:23:08.710 --> 00:23:08.720 align:start position:0% does a particular thing we give you a 00:23:08.720 --> 00:23:10.630 align:start position:0% does a particular thing we give you a swiss<00:23:09.039> army<00:23:09.280> knife<00:23:09.600> of<00:23:09.679> all<00:23:09.840> kinds<00:23:10.159> of<00:23:10.240> things 00:23:10.630 --> 00:23:10.640 align:start position:0% swiss army knife of all kinds of things 00:23:10.640 --> 00:23:12.470 align:start position:0% swiss army knife of all kinds of things that<00:23:10.960> can<00:23:11.120> be 00:23:12.470 --> 00:23:12.480 align:start position:0% that can be 00:23:12.480 --> 00:23:15.909 align:start position:0% that can be put<00:23:12.720> together<00:23:14.559> and<00:23:14.720> in<00:23:14.799> terms<00:23:15.200> of 00:23:15.909 --> 00:23:15.919 align:start position:0% put together and in terms of 00:23:15.919 --> 00:23:17.830 align:start position:0% put together and in terms of the<00:23:16.080> fact<00:23:16.240> that<00:23:16.400> robots<00:23:16.880> drive<00:23:17.120> around<00:23:17.600> and 00:23:17.830 --> 00:23:17.840 align:start position:0% the fact that robots drive around and 00:23:17.840 --> 00:23:19.750 align:start position:0% the fact that robots drive around and can<00:23:18.000> run<00:23:18.240> into<00:23:18.480> things<00:23:18.720> and<00:23:18.880> break<00:23:19.120> things 00:23:19.750 --> 00:23:19.760 align:start position:0% can run into things and break things 00:23:19.760 --> 00:23:21.590 align:start position:0% can run into things and break things what<00:23:20.000> are<00:23:20.080> some<00:23:20.240> of<00:23:20.320> the<00:23:20.559> issues<00:23:20.960> and<00:23:21.039> concerns 00:23:21.590 --> 00:23:21.600 align:start position:0% what are some of the issues and concerns 00:23:21.600 --> 00:23:24.390 align:start position:0% what are some of the issues and concerns about<00:23:22.080> security<00:23:22.799> and<00:23:23.039> reliability<00:23:23.919> in<00:23:24.080> an 00:23:24.390 --> 00:23:24.400 align:start position:0% about security and reliability in an 00:23:24.400 --> 00:23:27.590 align:start position:0% about security and reliability in an operating<00:23:24.880> system<00:23:25.200> for<00:23:25.440> a<00:23:25.520> robot<00:23:27.039> well 00:23:27.590 --> 00:23:27.600 align:start position:0% operating system for a robot well 00:23:27.600 --> 00:23:31.350 align:start position:0% operating system for a robot well the<00:23:29.760> i'd<00:23:29.919> say<00:23:30.080> the<00:23:30.240> biggest<00:23:30.559> concern<00:23:30.960> in<00:23:31.039> terms 00:23:31.350 --> 00:23:31.360 align:start position:0% the i'd say the biggest concern in terms 00:23:31.360 --> 00:23:32.390 align:start position:0% the i'd say the biggest concern in terms of<00:23:31.440> reliability 00:23:32.390 --> 00:23:32.400 align:start position:0% of reliability 00:23:32.400 --> 00:23:35.590 align:start position:0% of reliability is<00:23:32.640> that<00:23:33.520> at<00:23:33.600> this<00:23:33.840> stage<00:23:34.080> in<00:23:34.159> robotics 00:23:35.590 --> 00:23:35.600 align:start position:0% is that at this stage in robotics 00:23:35.600 --> 00:23:37.750 align:start position:0% is that at this stage in robotics we're<00:23:36.000> still<00:23:36.320> working<00:23:36.720> out<00:23:36.799> the<00:23:36.960> bugs<00:23:37.360> even<00:23:37.600> in 00:23:37.750 --> 00:23:37.760 align:start position:0% we're still working out the bugs even in 00:23:37.760 --> 00:23:39.510 align:start position:0% we're still working out the bugs even in the<00:23:38.000> even<00:23:38.240> in<00:23:38.320> the<00:23:38.400> basic<00:23:38.720> components 00:23:39.510 --> 00:23:39.520 align:start position:0% the even in the basic components 00:23:39.520 --> 00:23:41.909 align:start position:0% the even in the basic components and<00:23:39.679> so<00:23:40.799> it's<00:23:41.039> important<00:23:41.360> to<00:23:41.520> design<00:23:41.840> the 00:23:41.909 --> 00:23:41.919 align:start position:0% and so it's important to design the 00:23:41.919 --> 00:23:43.510 align:start position:0% and so it's important to design the system<00:23:42.320> so<00:23:42.480> that<00:23:42.720> when<00:23:42.960> one<00:23:43.200> thing 00:23:43.510 --> 00:23:43.520 align:start position:0% system so that when one thing 00:23:43.520 --> 00:23:45.269 align:start position:0% system so that when one thing fails<00:23:43.919> it<00:23:44.000> doesn't<00:23:44.240> bring<00:23:44.480> down<00:23:44.640> the<00:23:44.799> entire 00:23:45.269 --> 00:23:45.279 align:start position:0% fails it doesn't bring down the entire 00:23:45.279 --> 00:23:46.630 align:start position:0% fails it doesn't bring down the entire robot 00:23:46.630 --> 00:23:46.640 align:start position:0% robot 00:23:46.640 --> 00:23:48.390 align:start position:0% robot and<00:23:46.799> that<00:23:47.200> that<00:23:47.360> sort<00:23:47.520> of<00:23:47.600> naturally<00:23:48.000> follows 00:23:48.390 --> 00:23:48.400 align:start position:0% and that that sort of naturally follows 00:23:48.400 --> 00:23:50.390 align:start position:0% and that that sort of naturally follows from<00:23:48.559> the<00:23:48.720> peer-to-peer<00:23:49.279> setup<00:23:49.679> if 00:23:50.390 --> 00:23:50.400 align:start position:0% from the peer-to-peer setup if 00:23:50.400 --> 00:23:53.669 align:start position:0% from the peer-to-peer setup if if<00:23:50.640> one<00:23:51.360> one<00:23:51.600> of<00:23:51.679> node<00:23:52.000> in<00:23:52.080> my<00:23:52.240> system<00:23:52.720> crashes 00:23:53.669 --> 00:23:53.679 align:start position:0% if one one of node in my system crashes 00:23:53.679 --> 00:23:55.269 align:start position:0% if one one of node in my system crashes there<00:23:53.760> was<00:23:53.919> just<00:23:54.080> a<00:23:54.159> bug<00:23:54.400> in<00:23:54.559> it<00:23:54.799> i<00:23:54.880> don't<00:23:55.120> want 00:23:55.269 --> 00:23:55.279 align:start position:0% there was just a bug in it i don't want 00:23:55.279 --> 00:23:56.549 align:start position:0% there was just a bug in it i don't want it<00:23:55.360> to<00:23:55.440> tear<00:23:55.600> down<00:23:55.760> the<00:23:55.840> whole<00:23:56.000> system<00:23:56.320> i<00:23:56.400> want 00:23:56.549 --> 00:23:56.559 align:start position:0% it to tear down the whole system i want 00:23:56.559 --> 00:23:57.909 align:start position:0% it to tear down the whole system i want to<00:23:56.640> have<00:23:56.720> the<00:23:56.880> ability<00:23:57.200> to<00:23:57.279> bring<00:23:57.520> that<00:23:57.679> piece 00:23:57.909 --> 00:23:57.919 align:start position:0% to have the ability to bring that piece 00:23:57.919 --> 00:24:00.230 align:start position:0% to have the ability to bring that piece back<00:23:58.240> up<00:23:58.400> and<00:23:58.480> have<00:23:58.640> everything<00:23:58.960> keep<00:23:59.200> going 00:24:00.230 --> 00:24:00.240 align:start position:0% back up and have everything keep going 00:24:00.240 --> 00:24:02.310 align:start position:0% back up and have everything keep going so<00:24:00.880> certainly<00:24:01.200> from<00:24:01.360> a<00:24:01.440> reliability<00:24:02.080> point<00:24:02.240> of 00:24:02.310 --> 00:24:02.320 align:start position:0% so certainly from a reliability point of 00:24:02.320 --> 00:24:04.789 align:start position:0% so certainly from a reliability point of view<00:24:02.480> just<00:24:02.799> dealing<00:24:03.200> with<00:24:03.200> with<00:24:03.760> buggy<00:24:04.159> code 00:24:04.789 --> 00:24:04.799 align:start position:0% view just dealing with with buggy code 00:24:04.799 --> 00:24:08.149 align:start position:0% view just dealing with with buggy code is<00:24:05.440> really<00:24:05.760> important<00:24:06.559> um<00:24:07.600> if<00:24:07.679> you<00:24:07.840> talk<00:24:08.000> about 00:24:08.149 --> 00:24:08.159 align:start position:0% is really important um if you talk about 00:24:08.159 --> 00:24:10.390 align:start position:0% is really important um if you talk about the<00:24:08.240> fact<00:24:08.400> that<00:24:08.559> robots<00:24:08.960> can<00:24:09.120> run<00:24:09.360> into<00:24:09.600> things 00:24:10.390 --> 00:24:10.400 align:start position:0% the fact that robots can run into things 00:24:10.400 --> 00:24:12.230 align:start position:0% the fact that robots can run into things that's<00:24:10.799> not<00:24:11.120> the<00:24:11.600> that's<00:24:11.760> not<00:24:11.919> the<00:24:12.000> sort<00:24:12.159> of 00:24:12.230 --> 00:24:12.240 align:start position:0% that's not the that's not the sort of 00:24:12.240 --> 00:24:13.430 align:start position:0% that's not the that's not the sort of thing<00:24:12.400> you<00:24:12.480> can<00:24:12.640> protect<00:24:12.880> against 00:24:13.430 --> 00:24:13.440 align:start position:0% thing you can protect against 00:24:13.440 --> 00:24:15.269 align:start position:0% thing you can protect against at<00:24:13.520> the<00:24:13.600> low<00:24:13.840> level<00:24:14.240> right<00:24:14.480> that's<00:24:14.720> a<00:24:14.880> that's 00:24:15.269 --> 00:24:15.279 align:start position:0% at the low level right that's a that's 00:24:15.279 --> 00:24:17.029 align:start position:0% at the low level right that's a that's very<00:24:15.600> much<00:24:15.840> a<00:24:16.000> high<00:24:16.320> level 00:24:17.029 --> 00:24:17.039 align:start position:0% very much a high level 00:24:17.039 --> 00:24:20.710 align:start position:0% very much a high level uh<00:24:18.000> idea<00:24:18.720> that<00:24:19.039> that<00:24:19.279> has<00:24:19.520> to 00:24:20.710 --> 00:24:20.720 align:start position:0% uh idea that that has to 00:24:20.720 --> 00:24:22.549 align:start position:0% uh idea that that has to it<00:24:20.880> has<00:24:21.039> to<00:24:21.200> be<00:24:21.520> in<00:24:21.679> the<00:24:22.080> that<00:24:22.320> has<00:24:22.400> to<00:24:22.480> be 00:24:22.549 --> 00:24:22.559 align:start position:0% it has to be in the that has to be 00:24:22.559 --> 00:24:23.830 align:start position:0% it has to be in the that has to be embedded<00:24:22.880> into<00:24:23.039> the<00:24:23.200> decision<00:24:23.520> making 00:24:23.830 --> 00:24:23.840 align:start position:0% embedded into the decision making 00:24:23.840 --> 00:24:26.070 align:start position:0% embedded into the decision making process<00:24:24.240> that<00:24:24.559> that<00:24:24.880> is<00:24:25.120> at<00:24:25.360> a<00:24:25.520> at<00:24:25.679> a<00:24:25.760> different 00:24:26.070 --> 00:24:26.080 align:start position:0% process that that is at a at a different 00:24:26.080 --> 00:24:27.190 align:start position:0% process that that is at a at a different point<00:24:26.320> in<00:24:26.400> the<00:24:26.480> system 00:24:27.190 --> 00:24:27.200 align:start position:0% point in the system 00:24:27.200 --> 00:24:28.950 align:start position:0% point in the system and<00:24:27.440> also<00:24:27.919> you<00:24:28.000> know<00:24:28.159> running<00:24:28.480> into<00:24:28.720> stuff 00:24:28.950 --> 00:24:28.960 align:start position:0% and also you know running into stuff 00:24:28.960 --> 00:24:30.630 align:start position:0% and also you know running into stuff isn't<00:24:29.200> necessarily<00:24:29.760> bad 00:24:30.630 --> 00:24:30.640 align:start position:0% isn't necessarily bad 00:24:30.640 --> 00:24:32.230 align:start position:0% isn't necessarily bad you<00:24:30.799> know<00:24:30.960> maybe<00:24:31.279> maybe<00:24:31.520> you<00:24:31.679> meant<00:24:31.840> to<00:24:32.000> run 00:24:32.230 --> 00:24:32.240 align:start position:0% you know maybe maybe you meant to run 00:24:32.240 --> 00:24:33.750 align:start position:0% you know maybe maybe you meant to run into<00:24:32.400> something<00:24:32.720> maybe<00:24:32.960> you<00:24:33.200> you<00:24:33.360> need<00:24:33.520> to<00:24:33.600> run 00:24:33.750 --> 00:24:33.760 align:start position:0% into something maybe you you need to run 00:24:33.760 --> 00:24:35.590 align:start position:0% into something maybe you you need to run into<00:24:34.000> the<00:24:34.080> door<00:24:34.400> to<00:24:34.559> close<00:24:34.880> it 00:24:35.590 --> 00:24:35.600 align:start position:0% into the door to close it 00:24:35.600 --> 00:24:38.230 align:start position:0% into the door to close it um<00:24:36.240> you<00:24:36.640> you<00:24:36.720> know<00:24:37.440> we<00:24:37.600> have<00:24:37.760> to<00:24:37.840> have<00:24:38.080> this 00:24:38.230 --> 00:24:38.240 align:start position:0% um you you know we have to have this 00:24:38.240 --> 00:24:38.710 align:start position:0% um you you know we have to have this problem 00:24:38.710 --> 00:24:38.720 align:start position:0% problem 00:24:38.720 --> 00:24:40.710 align:start position:0% problem with<00:24:38.880> manipulation<00:24:39.600> right<00:24:40.080> we<00:24:40.240> spend<00:24:40.400> most<00:24:40.640> of 00:24:40.710 --> 00:24:40.720 align:start position:0% with manipulation right we spend most of 00:24:40.720 --> 00:24:42.470 align:start position:0% with manipulation right we spend most of the<00:24:40.799> time<00:24:41.120> controlling<00:24:41.520> the<00:24:41.600> robot<00:24:42.000> arm 00:24:42.470 --> 00:24:42.480 align:start position:0% the time controlling the robot arm 00:24:42.480 --> 00:24:44.310 align:start position:0% the time controlling the robot arm trying<00:24:42.720> not<00:24:42.880> to<00:24:43.039> hit<00:24:43.279> stuff<00:24:43.520> we<00:24:43.600> have<00:24:43.919> a<00:24:44.000> lot<00:24:44.240> of 00:24:44.310 --> 00:24:44.320 align:start position:0% trying not to hit stuff we have a lot of 00:24:44.320 --> 00:24:46.070 align:start position:0% trying not to hit stuff we have a lot of software<00:24:44.720> that<00:24:45.200> you<00:24:45.279> know<00:24:45.440> makes<00:24:45.679> it<00:24:45.760> so<00:24:45.919> that 00:24:46.070 --> 00:24:46.080 align:start position:0% software that you know makes it so that 00:24:46.080 --> 00:24:46.950 align:start position:0% software that you know makes it so that i<00:24:46.159> can<00:24:46.320> get<00:24:46.559> my 00:24:46.950 --> 00:24:46.960 align:start position:0% i can get my 00:24:46.960 --> 00:24:48.470 align:start position:0% i can get my hand<00:24:47.279> from<00:24:47.520> under<00:24:47.679> the<00:24:47.760> table<00:24:48.000> to<00:24:48.159> over<00:24:48.400> the 00:24:48.470 --> 00:24:48.480 align:start position:0% hand from under the table to over the 00:24:48.480 --> 00:24:50.149 align:start position:0% hand from under the table to over the table<00:24:48.720> without<00:24:49.039> hitting<00:24:49.360> the<00:24:49.440> table 00:24:50.149 --> 00:24:50.159 align:start position:0% table without hitting the table 00:24:50.159 --> 00:24:51.990 align:start position:0% table without hitting the table but<00:24:50.320> then<00:24:50.480> if<00:24:50.559> i<00:24:50.640> want<00:24:50.799> to<00:24:50.880> pick<00:24:51.120> something<00:24:51.440> up 00:24:51.990 --> 00:24:52.000 align:start position:0% but then if i want to pick something up 00:24:52.000 --> 00:24:54.789 align:start position:0% but then if i want to pick something up then<00:24:53.039> i'm<00:24:53.279> colliding<00:24:53.919> with<00:24:54.080> this<00:24:54.320> pen<00:24:54.559> to<00:24:54.640> pick 00:24:54.789 --> 00:24:54.799 align:start position:0% then i'm colliding with this pen to pick 00:24:54.799 --> 00:24:55.190 align:start position:0% then i'm colliding with this pen to pick it<00:24:54.960> up 00:24:55.190 --> 00:24:55.200 align:start position:0% it up 00:24:55.200 --> 00:24:56.710 align:start position:0% it up and<00:24:55.279> so<00:24:55.440> that's<00:24:55.679> a<00:24:55.760> purposeful<00:24:56.240> collision<00:24:56.640> you 00:24:56.710 --> 00:24:56.720 align:start position:0% and so that's a purposeful collision you 00:24:56.720 --> 00:24:58.390 align:start position:0% and so that's a purposeful collision you know<00:24:56.880> so<00:24:57.200> it's<00:24:57.440> it's<00:24:57.679> not<00:24:57.840> the<00:24:58.000> case<00:24:58.240> that 00:24:58.390 --> 00:24:58.400 align:start position:0% know so it's it's not the case that 00:24:58.400 --> 00:24:59.669 align:start position:0% know so it's it's not the case that running<00:24:58.640> into<00:24:58.799> things<00:24:59.039> is<00:24:59.200> always<00:24:59.440> a<00:24:59.520> bad 00:24:59.669 --> 00:24:59.679 align:start position:0% running into things is always a bad 00:24:59.679 --> 00:25:03.430 align:start position:0% running into things is always a bad thing<00:24:59.840> it's<00:25:00.000> very<00:25:00.159> much<00:25:00.320> context<00:25:00.799> dependent 00:25:03.430 --> 00:25:03.440 align:start position:0% 00:25:03.440 --> 00:25:05.110 align:start position:0% and<00:25:03.600> so<00:25:03.760> you<00:25:03.919> mentioned<00:25:04.240> when<00:25:04.400> you<00:25:04.559> were 00:25:05.110 --> 00:25:05.120 align:start position:0% and so you mentioned when you were 00:25:05.120 --> 00:25:07.430 align:start position:0% and so you mentioned when you were developing<00:25:05.760> player<00:25:06.400> that<00:25:06.640> you 00:25:07.430 --> 00:25:07.440 align:start position:0% developing player that you 00:25:07.440 --> 00:25:09.909 align:start position:0% developing player that you envisioned<00:25:08.240> being<00:25:08.480> used<00:25:08.720> with<00:25:09.200> kind<00:25:09.360> of<00:25:09.520> small 00:25:09.909 --> 00:25:09.919 align:start position:0% envisioned being used with kind of small 00:25:09.919 --> 00:25:11.750 align:start position:0% envisioned being used with kind of small simple<00:25:10.240> robots 00:25:11.750 --> 00:25:11.760 align:start position:0% simple robots 00:25:11.760 --> 00:25:13.350 align:start position:0% simple robots like<00:25:12.080> some<00:25:12.240> of<00:25:12.320> the<00:25:12.400> ones<00:25:12.640> people<00:25:12.880> were<00:25:13.039> using 00:25:13.350 --> 00:25:13.360 align:start position:0% like some of the ones people were using 00:25:13.360 --> 00:25:15.029 align:start position:0% like some of the ones people were using in<00:25:13.520> education<00:25:14.000> and<00:25:14.080> research<00:25:14.400> at<00:25:14.480> the<00:25:14.640> time 00:25:15.029 --> 00:25:15.039 align:start position:0% in education and research at the time 00:25:15.039 --> 00:25:18.230 align:start position:0% in education and research at the time so<00:25:15.200> when<00:25:15.360> you<00:25:15.520> were<00:25:16.000> developing<00:25:16.640> ross<00:25:17.600> um<00:25:18.000> did 00:25:18.230 --> 00:25:18.240 align:start position:0% so when you were developing ross um did 00:25:18.240 --> 00:25:19.269 align:start position:0% so when you were developing ross um did you<00:25:18.480> have<00:25:18.880> any 00:25:19.269 --> 00:25:19.279 align:start position:0% you have any 00:25:19.279 --> 00:25:21.029 align:start position:0% you have any considerations<00:25:19.919> about<00:25:20.159> particular<00:25:20.640> types<00:25:20.960> of 00:25:21.029 --> 00:25:21.039 align:start position:0% considerations about particular types of 00:25:21.039 --> 00:25:23.029 align:start position:0% considerations about particular types of platforms<00:25:22.000> or 00:25:23.029 --> 00:25:23.039 align:start position:0% platforms or 00:25:23.039 --> 00:25:26.149 align:start position:0% platforms or no<00:25:24.000> so<00:25:24.320> when<00:25:24.880> we<00:25:25.039> were<00:25:25.120> building<00:25:25.440> ross 00:25:26.149 --> 00:25:26.159 align:start position:0% no so when we were building ross 00:25:26.159 --> 00:25:28.549 align:start position:0% no so when we were building ross we<00:25:26.320> were<00:25:26.840> really<00:25:27.840> we<00:25:28.000> were<00:25:28.080> designing<00:25:28.400> it<00:25:28.480> for 00:25:28.549 --> 00:25:28.559 align:start position:0% we were really we were designing it for 00:25:28.559 --> 00:25:29.830 align:start position:0% we were really we were designing it for the<00:25:28.640> pr2 00:25:29.830 --> 00:25:29.840 align:start position:0% the pr2 00:25:29.840 --> 00:25:32.950 align:start position:0% the pr2 um<00:25:30.400> so<00:25:30.640> the<00:25:30.799> pr2<00:25:31.600> we<00:25:31.840> we<00:25:32.000> knew<00:25:32.159> the<00:25:32.320> basics 00:25:32.950 --> 00:25:32.960 align:start position:0% um so the pr2 we we knew the basics 00:25:32.960 --> 00:25:34.230 align:start position:0% um so the pr2 we we knew the basics you<00:25:33.039> know<00:25:33.200> we<00:25:33.279> looked<00:25:33.440> at<00:25:33.520> the<00:25:33.600> pr1<00:25:34.080> and<00:25:34.159> we 00:25:34.230 --> 00:25:34.240 align:start position:0% you know we looked at the pr1 and we 00:25:34.240 --> 00:25:35.830 align:start position:0% you know we looked at the pr1 and we knew<00:25:34.480> basically<00:25:34.880> what<00:25:34.960> the<00:25:35.039> pr2<00:25:35.520> was<00:25:35.679> going<00:25:35.760> to 00:25:35.830 --> 00:25:35.840 align:start position:0% knew basically what the pr2 was going to 00:25:35.840 --> 00:25:38.470 align:start position:0% knew basically what the pr2 was going to be<00:25:36.000> like<00:25:36.240> it<00:25:36.320> was<00:25:36.559> going<00:25:36.640> to<00:25:36.799> have 00:25:38.470 --> 00:25:38.480 align:start position:0% be like it was going to have 00:25:38.480 --> 00:25:40.310 align:start position:0% be like it was going to have a<00:25:38.640> lot<00:25:38.799> of<00:25:38.960> sensors<00:25:39.520> it<00:25:39.600> was<00:25:39.760> going<00:25:39.919> to<00:25:40.000> have 00:25:40.310 --> 00:25:40.320 align:start position:0% a lot of sensors it was going to have 00:25:40.320 --> 00:25:42.710 align:start position:0% a lot of sensors it was going to have arms<00:25:41.200> it<00:25:41.360> was<00:25:41.520> going<00:25:41.760> to<00:25:41.919> have<00:25:42.159> the<00:25:42.320> sensors 00:25:42.710 --> 00:25:42.720 align:start position:0% arms it was going to have the sensors 00:25:42.720 --> 00:25:43.430 align:start position:0% arms it was going to have the sensors were<00:25:42.880> going<00:25:42.960> to<00:25:43.039> be 00:25:43.430 --> 00:25:43.440 align:start position:0% were going to be 00:25:43.440 --> 00:25:45.350 align:start position:0% were going to be actuated<00:25:44.240> the<00:25:44.640> there<00:25:44.799> was<00:25:44.960> going<00:25:45.039> to<00:25:45.120> be<00:25:45.279> a 00:25:45.350 --> 00:25:45.360 align:start position:0% actuated the there was going to be a 00:25:45.360 --> 00:25:46.789 align:start position:0% actuated the there was going to be a laser<00:25:45.679> that<00:25:45.840> was<00:25:46.000> going<00:25:46.080> to<00:25:46.159> be<00:25:46.240> tilting<00:25:46.640> there 00:25:46.789 --> 00:25:46.799 align:start position:0% laser that was going to be tilting there 00:25:46.799 --> 00:25:48.230 align:start position:0% laser that was going to be tilting there were<00:25:46.880> going<00:25:46.960> to<00:25:47.039> be<00:25:47.200> cameras<00:25:47.679> in<00:25:47.760> the<00:25:47.840> arms 00:25:48.230 --> 00:25:48.240 align:start position:0% were going to be cameras in the arms 00:25:48.240 --> 00:25:50.630 align:start position:0% were going to be cameras in the arms that<00:25:48.320> are<00:25:48.480> moving<00:25:48.799> with<00:25:48.960> respect<00:25:49.279> to<00:25:49.440> the<00:25:49.520> body 00:25:50.630 --> 00:25:50.640 align:start position:0% that are moving with respect to the body 00:25:50.640 --> 00:25:53.590 align:start position:0% that are moving with respect to the body uh<00:25:51.679> so<00:25:52.159> we<00:25:52.480> we<00:25:52.640> took<00:25:52.799> that<00:25:53.039> into<00:25:53.200> account<00:25:53.440> when 00:25:53.590 --> 00:25:53.600 align:start position:0% uh so we we took that into account when 00:25:53.600 --> 00:25:55.110 align:start position:0% uh so we we took that into account when making<00:25:54.000> design<00:25:54.400> decisions 00:25:55.110 --> 00:25:55.120 align:start position:0% making design decisions 00:25:55.120 --> 00:25:58.470 align:start position:0% making design decisions about<00:25:55.440> ross<00:25:56.400> for<00:25:56.559> example<00:25:57.039> early<00:25:57.440> on 00:25:58.470 --> 00:25:58.480 align:start position:0% about ross for example early on 00:25:58.480 --> 00:26:01.190 align:start position:0% about ross for example early on we<00:25:58.640> decided<00:25:59.039> to<00:25:59.120> put<00:25:59.279> in<00:25:59.600> an<00:25:59.760> abstraction<00:26:00.720> for 00:26:01.190 --> 00:26:01.200 align:start position:0% we decided to put in an abstraction for 00:26:01.200 --> 00:26:03.269 align:start position:0% we decided to put in an abstraction for dealing<00:26:01.520> with<00:26:01.679> coordinate<00:26:02.159> transforms 00:26:03.269 --> 00:26:03.279 align:start position:0% dealing with coordinate transforms 00:26:03.279 --> 00:26:06.390 align:start position:0% dealing with coordinate transforms so<00:26:04.000> this<00:26:04.240> is<00:26:04.400> a<00:26:04.640> it's<00:26:04.880> a<00:26:05.039> really<00:26:05.760> important 00:26:06.390 --> 00:26:06.400 align:start position:0% so this is a it's a really important 00:26:06.400 --> 00:26:08.789 align:start position:0% so this is a it's a really important and<00:26:06.640> totally<00:26:07.200> tedious<00:26:07.840> aspect<00:26:08.240> of<00:26:08.320> robotics 00:26:08.789 --> 00:26:08.799 align:start position:0% and totally tedious aspect of robotics 00:26:08.799 --> 00:26:10.549 align:start position:0% and totally tedious aspect of robotics which<00:26:09.039> is<00:26:09.200> that<00:26:09.919> if 00:26:10.549 --> 00:26:10.559 align:start position:0% which is that if 00:26:10.559 --> 00:26:14.630 align:start position:0% which is that if if<00:26:10.720> i<00:26:10.960> want<00:26:11.120> to<00:26:11.440> incorporate<00:26:13.120> say 00:26:14.630 --> 00:26:14.640 align:start position:0% if i want to incorporate say 00:26:14.640 --> 00:26:16.470 align:start position:0% if i want to incorporate say two<00:26:14.799> laser<00:26:15.120> scans<00:26:15.520> where<00:26:15.760> one<00:26:16.000> came<00:26:16.159> from<00:26:16.400> a 00:26:16.470 --> 00:26:16.480 align:start position:0% two laser scans where one came from a 00:26:16.480 --> 00:26:18.149 align:start position:0% two laser scans where one came from a laser<00:26:16.799> that<00:26:17.039> is<00:26:17.200> on<00:26:17.279> the<00:26:17.360> base<00:26:17.600> of<00:26:17.679> the<00:26:17.760> robot 00:26:18.149 --> 00:26:18.159 align:start position:0% laser that is on the base of the robot 00:26:18.159 --> 00:26:19.750 align:start position:0% laser that is on the base of the robot and<00:26:18.320> one<00:26:18.559> came<00:26:18.799> from<00:26:18.960> a<00:26:19.039> laser<00:26:19.360> that 00:26:19.750 --> 00:26:19.760 align:start position:0% and one came from a laser that 00:26:19.760 --> 00:26:22.470 align:start position:0% and one came from a laser that is<00:26:20.320> in<00:26:20.400> the<00:26:20.559> robot's<00:26:20.960> hand<00:26:21.360> for<00:26:21.520> example<00:26:22.240> then 00:26:22.470 --> 00:26:22.480 align:start position:0% is in the robot's hand for example then 00:26:22.480 --> 00:26:24.230 align:start position:0% is in the robot's hand for example then i<00:26:22.559> need<00:26:22.720> to<00:26:22.880> know<00:26:23.200> where<00:26:23.360> the<00:26:23.520> base<00:26:23.840> was 00:26:24.230 --> 00:26:24.240 align:start position:0% i need to know where the base was 00:26:24.240 --> 00:26:25.990 align:start position:0% i need to know where the base was and<00:26:24.320> where<00:26:24.480> the<00:26:24.640> hand<00:26:24.880> was<00:26:25.360> at<00:26:25.520> a<00:26:25.600> particular 00:26:25.990 --> 00:26:26.000 align:start position:0% and where the hand was at a particular 00:26:26.000 --> 00:26:27.590 align:start position:0% and where the hand was at a particular point<00:26:26.240> in<00:26:26.400> time<00:26:26.720> and<00:26:26.799> then<00:26:26.960> i<00:26:27.039> need<00:26:27.200> to<00:26:27.440> pick 00:26:27.590 --> 00:26:27.600 align:start position:0% point in time and then i need to pick 00:26:27.600 --> 00:26:28.789 align:start position:0% point in time and then i need to pick another<00:26:28.000> frame<00:26:28.240> in<00:26:28.320> which<00:26:28.559> i'm<00:26:28.640> going<00:26:28.720> to 00:26:28.789 --> 00:26:28.799 align:start position:0% another frame in which i'm going to 00:26:28.799 --> 00:26:29.909 align:start position:0% another frame in which i'm going to incorporate<00:26:29.279> them<00:26:29.520> and<00:26:29.600> then 00:26:29.909 --> 00:26:29.919 align:start position:0% incorporate them and then 00:26:29.919 --> 00:26:33.190 align:start position:0% incorporate them and then do<00:26:30.159> some<00:26:30.400> math<00:26:30.799> to<00:26:30.960> transform<00:26:31.440> the<00:26:31.600> two<00:26:32.640> and 00:26:33.190 --> 00:26:33.200 align:start position:0% do some math to transform the two and 00:26:33.200 --> 00:26:35.269 align:start position:0% do some math to transform the two and that's<00:26:33.440> the<00:26:33.520> kind<00:26:33.679> of<00:26:33.760> thing<00:26:34.080> that<00:26:34.880> tends<00:26:35.120> to 00:26:35.269 --> 00:26:35.279 align:start position:0% that's the kind of thing that tends to 00:26:35.279 --> 00:26:37.590 align:start position:0% that's the kind of thing that tends to be<00:26:35.440> done<00:26:35.840> by<00:26:36.159> hand 00:26:37.590 --> 00:26:37.600 align:start position:0% be done by hand 00:26:37.600 --> 00:26:40.230 align:start position:0% be done by hand again<00:26:38.000> and<00:26:38.080> again<00:26:38.400> and<00:26:38.559> again<00:26:39.200> in<00:26:39.679> everybody's 00:26:40.230 --> 00:26:40.240 align:start position:0% again and again and again in everybody's 00:26:40.240 --> 00:26:41.430 align:start position:0% again and again and again in everybody's program<00:26:40.640> and<00:26:40.799> it's<00:26:40.880> the<00:26:40.960> kind<00:26:41.039> of<00:26:41.120> thing<00:26:41.279> that 00:26:41.430 --> 00:26:41.440 align:start position:0% program and it's the kind of thing that 00:26:41.440 --> 00:26:42.710 align:start position:0% program and it's the kind of thing that everybody<00:26:41.760> gets<00:26:42.000> wrong 00:26:42.710 --> 00:26:42.720 align:start position:0% everybody gets wrong 00:26:42.720 --> 00:26:44.230 align:start position:0% everybody gets wrong personally<00:26:43.200> if<00:26:43.360> i<00:26:43.440> try<00:26:43.600> to<00:26:43.679> do<00:26:43.840> that<00:26:44.000> kind<00:26:44.159> of 00:26:44.230 --> 00:26:44.240 align:start position:0% personally if i try to do that kind of 00:26:44.240 --> 00:26:46.149 align:start position:0% personally if i try to do that kind of math<00:26:44.480> by<00:26:44.640> hand<00:26:44.960> i<00:26:45.360> take<00:26:45.520> a<00:26:45.600> random<00:26:45.919> walk 00:26:46.149 --> 00:26:46.159 align:start position:0% math by hand i take a random walk 00:26:46.159 --> 00:26:47.350 align:start position:0% math by hand i take a random walk through<00:26:46.320> the<00:26:46.559> space<00:26:46.960> of 00:26:47.350 --> 00:26:47.360 align:start position:0% through the space of 00:26:47.360 --> 00:26:49.909 align:start position:0% through the space of trig<00:26:47.679> functions<00:26:48.240> until<00:26:48.480> i<00:26:48.559> get<00:26:48.720> it<00:26:48.880> right<00:26:49.679> so 00:26:49.909 --> 00:26:49.919 align:start position:0% trig functions until i get it right so 00:26:49.919 --> 00:26:51.750 align:start position:0% trig functions until i get it right so early<00:26:50.320> on<00:26:50.400> we<00:26:50.559> decided<00:26:50.960> that's 00:26:51.750 --> 00:26:51.760 align:start position:0% early on we decided that's 00:26:51.760 --> 00:26:53.590 align:start position:0% early on we decided that's that's<00:26:52.000> crazy<00:26:52.400> what<00:26:52.559> we<00:26:52.720> should<00:26:52.880> do<00:26:53.120> is<00:26:53.279> have<00:26:53.440> a 00:26:53.590 --> 00:26:53.600 align:start position:0% that's crazy what we should do is have a 00:26:53.600 --> 00:26:54.950 align:start position:0% that's crazy what we should do is have a consistent<00:26:54.159> way<00:26:54.320> of<00:26:54.480> dealing<00:26:54.799> with 00:26:54.950 --> 00:26:54.960 align:start position:0% consistent way of dealing with 00:26:54.960 --> 00:26:56.710 align:start position:0% consistent way of dealing with coordinate<00:26:55.440> transforms<00:26:56.000> and<00:26:56.159> in<00:26:56.240> fact<00:26:56.559> every 00:26:56.710 --> 00:26:56.720 align:start position:0% coordinate transforms and in fact every 00:26:56.720 --> 00:26:58.149 align:start position:0% coordinate transforms and in fact every piece<00:26:56.960> of<00:26:57.200> data 00:26:58.149 --> 00:26:58.159 align:start position:0% piece of data 00:26:58.159 --> 00:26:59.750 align:start position:0% piece of data that<00:26:58.400> is<00:26:58.559> published<00:26:58.960> should<00:26:59.200> have<00:26:59.360> a<00:26:59.520> frame 00:26:59.750 --> 00:26:59.760 align:start position:0% that is published should have a frame 00:26:59.760 --> 00:27:01.510 align:start position:0% that is published should have a frame attached<00:27:00.080> to<00:27:00.240> it<00:27:00.320> we<00:27:00.480> should<00:27:00.640> say 00:27:01.510 --> 00:27:01.520 align:start position:0% attached to it we should say 00:27:01.520 --> 00:27:03.990 align:start position:0% attached to it we should say this<00:27:02.080> scan<00:27:02.559> or<00:27:02.640> this<00:27:02.880> point<00:27:03.120> cloud<00:27:03.440> or<00:27:03.600> this 00:27:03.990 --> 00:27:04.000 align:start position:0% this scan or this point cloud or this 00:27:04.000 --> 00:27:05.750 align:start position:0% this scan or this point cloud or this image<00:27:04.480> or<00:27:04.559> whatever<00:27:04.880> it<00:27:05.039> is 00:27:05.750 --> 00:27:05.760 align:start position:0% image or whatever it is 00:27:05.760 --> 00:27:08.950 align:start position:0% image or whatever it is was<00:27:06.000> acquired<00:27:06.960> at<00:27:07.120> this<00:27:07.440> time<00:27:07.919> in<00:27:08.000> this<00:27:08.240> frame 00:27:08.950 --> 00:27:08.960 align:start position:0% was acquired at this time in this frame 00:27:08.960 --> 00:27:11.269 align:start position:0% was acquired at this time in this frame and<00:27:09.279> then<00:27:09.840> there's<00:27:10.159> a<00:27:10.400> there's<00:27:10.640> a<00:27:10.720> library 00:27:11.269 --> 00:27:11.279 align:start position:0% and then there's a there's a library 00:27:11.279 --> 00:27:12.549 align:start position:0% and then there's a there's a library that<00:27:11.919> knows<00:27:12.240> where 00:27:12.549 --> 00:27:12.559 align:start position:0% that knows where 00:27:12.559 --> 00:27:14.070 align:start position:0% that knows where all<00:27:12.720> the<00:27:12.880> frames<00:27:13.120> with<00:27:13.440> respect<00:27:13.760> to<00:27:13.840> each 00:27:14.070 --> 00:27:14.080 align:start position:0% all the frames with respect to each 00:27:14.080 --> 00:27:16.390 align:start position:0% all the frames with respect to each other<00:27:14.480> over<00:27:14.720> time<00:27:15.440> and<00:27:15.600> then<00:27:15.760> can<00:27:16.000> do<00:27:16.159> things 00:27:16.390 --> 00:27:16.400 align:start position:0% other over time and then can do things 00:27:16.400 --> 00:27:17.990 align:start position:0% other over time and then can do things for<00:27:16.559> you<00:27:16.720> automatically<00:27:17.360> like<00:27:17.600> take<00:27:17.760> this 00:27:17.990 --> 00:27:18.000 align:start position:0% for you automatically like take this 00:27:18.000 --> 00:27:19.110 align:start position:0% for you automatically like take this point<00:27:18.240> cloud 00:27:19.110 --> 00:27:19.120 align:start position:0% point cloud 00:27:19.120 --> 00:27:20.710 align:start position:0% point cloud that<00:27:19.279> i<00:27:19.440> took<00:27:19.600> in<00:27:19.679> the<00:27:20.080> coordinate<00:27:20.399> frame<00:27:20.640> of 00:27:20.710 --> 00:27:20.720 align:start position:0% that i took in the coordinate frame of 00:27:20.720 --> 00:27:22.630 align:start position:0% that i took in the coordinate frame of my<00:27:20.880> hand<00:27:21.200> and<00:27:21.520> show<00:27:21.679> me<00:27:21.919> where<00:27:22.080> it<00:27:22.240> is<00:27:22.480> in<00:27:22.559> the 00:27:22.630 --> 00:27:22.640 align:start position:0% my hand and show me where it is in the 00:27:22.640 --> 00:27:26.389 align:start position:0% my hand and show me where it is in the coordinate<00:27:22.960> frame<00:27:23.200> of<00:27:23.279> my<00:27:23.440> head 00:27:26.389 --> 00:27:26.399 align:start position:0% 00:27:26.399 --> 00:27:29.830 align:start position:0% and<00:27:26.559> obviously<00:27:27.600> the<00:27:27.840> pr2<00:27:28.559> is<00:27:28.720> a<00:27:28.799> much<00:27:29.120> more 00:27:29.830 --> 00:27:29.840 align:start position:0% and obviously the pr2 is a much more 00:27:29.840 --> 00:27:32.310 align:start position:0% and obviously the pr2 is a much more complex<00:27:30.640> robot<00:27:31.039> than<00:27:31.679> the<00:27:31.840> ones<00:27:32.080> that<00:27:32.240> you 00:27:32.310 --> 00:27:32.320 align:start position:0% complex robot than the ones that you 00:27:32.320 --> 00:27:34.230 align:start position:0% complex robot than the ones that you were<00:27:32.480> thinking<00:27:32.799> of<00:27:32.880> before<00:27:33.360> so<00:27:33.520> how<00:27:33.679> did 00:27:34.230 --> 00:27:34.240 align:start position:0% were thinking of before so how did 00:27:34.240 --> 00:27:36.710 align:start position:0% were thinking of before so how did some<00:27:34.399> of<00:27:34.559> that<00:27:34.799> affect<00:27:35.360> how<00:27:35.600> you<00:27:36.000> designed 00:27:36.710 --> 00:27:36.720 align:start position:0% some of that affect how you designed 00:27:36.720 --> 00:27:39.510 align:start position:0% some of that affect how you designed ross<00:27:37.039> or<00:27:37.200> how<00:27:37.360> you<00:27:37.440> went 00:27:39.510 --> 00:27:39.520 align:start position:0% ross or how you went 00:27:39.520 --> 00:27:42.549 align:start position:0% ross or how you went well<00:27:39.679> the<00:27:39.919> the<00:27:40.080> complexity<00:27:40.720> of<00:27:40.799> pr2 00:27:42.549 --> 00:27:42.559 align:start position:0% well the the complexity of pr2 00:27:42.559 --> 00:27:44.230 align:start position:0% well the the complexity of pr2 it<00:27:42.720> really<00:27:42.880> came<00:27:43.120> through<00:27:43.279> in<00:27:43.360> the<00:27:43.440> design<00:27:44.080> of 00:27:44.230 --> 00:27:44.240 align:start position:0% it really came through in the design of 00:27:44.240 --> 00:27:46.389 align:start position:0% it really came through in the design of the<00:27:44.399> software 00:27:46.389 --> 00:27:46.399 align:start position:0% the software 00:27:46.399 --> 00:27:48.230 align:start position:0% the software in<00:27:46.559> that<00:27:46.799> we<00:27:47.200> we<00:27:47.360> knew<00:27:47.520> that<00:27:47.600> we<00:27:47.840> wanted<00:27:48.080> the 00:27:48.230 --> 00:27:48.240 align:start position:0% in that we we knew that we wanted the 00:27:48.240 --> 00:27:50.389 align:start position:0% in that we we knew that we wanted the system<00:27:48.640> to<00:27:48.799> be<00:27:49.200> flexible 00:27:50.389 --> 00:27:50.399 align:start position:0% system to be flexible 00:27:50.399 --> 00:27:52.630 align:start position:0% system to be flexible we<00:27:50.559> wanted<00:27:50.880> to<00:27:50.960> be<00:27:51.039> able<00:27:51.200> to<00:27:51.600> to<00:27:51.919> let<00:27:52.159> the<00:27:52.320> user 00:27:52.630 --> 00:27:52.640 align:start position:0% we wanted to be able to to let the user 00:27:52.640 --> 00:27:54.470 align:start position:0% we wanted to be able to to let the user decide<00:27:53.279> how<00:27:53.600> to 00:27:54.470 --> 00:27:54.480 align:start position:0% decide how to 00:27:54.480 --> 00:27:57.669 align:start position:0% decide how to um<00:27:55.279> either<00:27:55.679> exploit<00:27:56.240> or<00:27:56.480> hide<00:27:56.880> the<00:27:57.039> complexity 00:27:57.669 --> 00:27:57.679 align:start position:0% um either exploit or hide the complexity 00:27:57.679 --> 00:27:58.630 align:start position:0% um either exploit or hide the complexity of<00:27:57.760> the<00:27:57.840> robot 00:27:58.630 --> 00:27:58.640 align:start position:0% of the robot 00:27:58.640 --> 00:28:01.669 align:start position:0% of the robot and<00:27:58.799> that<00:27:59.200> that<00:27:59.440> meant<00:28:01.039> letting<00:28:01.279> the<00:28:01.360> user 00:28:01.669 --> 00:28:01.679 align:start position:0% and that that meant letting the user 00:28:01.679 --> 00:28:02.310 align:start position:0% and that that meant letting the user decide 00:28:02.310 --> 00:28:02.320 align:start position:0% decide 00:28:02.320 --> 00:28:04.310 align:start position:0% decide which<00:28:02.720> parts<00:28:03.039> would<00:28:03.279> be<00:28:03.600> up<00:28:03.760> at<00:28:03.919> any<00:28:04.080> given 00:28:04.310 --> 00:28:04.320 align:start position:0% which parts would be up at any given 00:28:04.320 --> 00:28:05.750 align:start position:0% which parts would be up at any given time<00:28:04.559> which<00:28:04.720> sensors<00:28:05.120> are<00:28:05.279> using<00:28:05.520> which 00:28:05.750 --> 00:28:05.760 align:start position:0% time which sensors are using which 00:28:05.760 --> 00:28:07.350 align:start position:0% time which sensors are using which actuators<00:28:06.240> are<00:28:06.399> you<00:28:06.480> using 00:28:07.350 --> 00:28:07.360 align:start position:0% actuators are you using 00:28:07.360 --> 00:28:10.710 align:start position:0% actuators are you using and<00:28:07.520> also<00:28:07.760> have<00:28:08.000> full<00:28:08.159> control<00:28:08.799> over<00:28:09.760> how<00:28:10.080> the 00:28:10.710 --> 00:28:10.720 align:start position:0% and also have full control over how the 00:28:10.720 --> 00:28:13.269 align:start position:0% and also have full control over how the how<00:28:10.880> the<00:28:11.039> robot<00:28:11.360> was<00:28:11.520> being<00:28:11.760> commanded<00:28:13.039> do<00:28:13.200> you 00:28:13.269 --> 00:28:13.279 align:start position:0% how the robot was being commanded do you 00:28:13.279 --> 00:28:14.870 align:start position:0% how the robot was being commanded do you want<00:28:13.440> a<00:28:13.760> high<00:28:14.000> level<00:28:14.240> interface 00:28:14.870 --> 00:28:14.880 align:start position:0% want a high level interface 00:28:14.880 --> 00:28:17.590 align:start position:0% want a high level interface where<00:28:15.520> you<00:28:15.679> for<00:28:15.919> example<00:28:16.720> tell<00:28:17.039> the<00:28:17.279> hand 00:28:17.590 --> 00:28:17.600 align:start position:0% where you for example tell the hand 00:28:17.600 --> 00:28:18.230 align:start position:0% where you for example tell the hand where<00:28:17.760> to<00:28:17.919> go 00:28:18.230 --> 00:28:18.240 align:start position:0% where to go 00:28:18.240 --> 00:28:20.149 align:start position:0% where to go you<00:28:18.399> say<00:28:18.559> i<00:28:18.640> want<00:28:18.799> the<00:28:18.880> hand<00:28:19.039> to<00:28:19.120> be<00:28:19.279> here<00:28:19.760> and 00:28:20.149 --> 00:28:20.159 align:start position:0% you say i want the hand to be here and 00:28:20.159 --> 00:28:21.990 align:start position:0% you say i want the hand to be here and it<00:28:20.320> computes<00:28:20.720> inverse<00:28:21.120> kinematics<00:28:21.679> and 00:28:21.990 --> 00:28:22.000 align:start position:0% it computes inverse kinematics and 00:28:22.000 --> 00:28:23.269 align:start position:0% it computes inverse kinematics and runs<00:28:22.240> some<00:28:22.480> fairly<00:28:22.720> sophisticated 00:28:23.269 --> 00:28:23.279 align:start position:0% runs some fairly sophisticated 00:28:23.279 --> 00:28:25.350 align:start position:0% runs some fairly sophisticated controllers<00:28:23.760> and<00:28:23.919> gets<00:28:24.159> you<00:28:24.320> there<00:28:24.960> or 00:28:25.350 --> 00:28:25.360 align:start position:0% controllers and gets you there or 00:28:25.360 --> 00:28:27.510 align:start position:0% controllers and gets you there or do<00:28:25.520> you<00:28:25.600> want<00:28:25.840> to<00:28:26.080> command<00:28:26.559> the<00:28:27.120> joints 00:28:27.510 --> 00:28:27.520 align:start position:0% do you want to command the joints 00:28:27.520 --> 00:28:29.269 align:start position:0% do you want to command the joints individually<00:28:28.000> and<00:28:28.080> say<00:28:28.320> apply<00:28:28.559> a<00:28:28.640> torque<00:28:28.960> here 00:28:29.269 --> 00:28:29.279 align:start position:0% individually and say apply a torque here 00:28:29.279 --> 00:28:30.789 align:start position:0% individually and say apply a torque here and<00:28:29.360> then<00:28:29.600> apply<00:28:29.919> a<00:28:30.000> torque<00:28:30.320> there<00:28:30.559> and<00:28:30.640> then 00:28:30.789 --> 00:28:30.799 align:start position:0% and then apply a torque there and then 00:28:30.799 --> 00:28:31.830 align:start position:0% and then apply a torque there and then apply<00:28:31.039> a<00:28:31.120> torque<00:28:31.440> there 00:28:31.830 --> 00:28:31.840 align:start position:0% apply a torque there 00:28:31.840 --> 00:28:36.230 align:start position:0% apply a torque there you<00:28:31.919> can<00:28:32.320> you<00:28:32.480> can<00:28:32.960> go<00:28:33.200> in<00:28:33.360> it<00:28:33.520> at<00:28:33.679> all<00:28:33.919> levels 00:28:36.230 --> 00:28:36.240 align:start position:0% you can you can go in it at all levels 00:28:36.240 --> 00:28:37.750 align:start position:0% you can you can go in it at all levels and<00:28:36.559> can<00:28:36.720> you<00:28:36.880> tell<00:28:37.039> us<00:28:37.200> a<00:28:37.279> little<00:28:37.440> bit<00:28:37.600> about 00:28:37.750 --> 00:28:37.760 align:start position:0% and can you tell us a little bit about 00:28:37.760 --> 00:28:39.590 align:start position:0% and can you tell us a little bit about some<00:28:37.919> of<00:28:38.080> the<00:28:38.720> initial 00:28:39.590 --> 00:28:39.600 align:start position:0% some of the initial 00:28:39.600 --> 00:28:43.190 align:start position:0% some of the initial testing<00:28:40.320> of<00:28:41.600> the<00:28:41.840> program<00:28:42.320> and 00:28:43.190 --> 00:28:43.200 align:start position:0% testing of the program and 00:28:43.200 --> 00:28:45.269 align:start position:0% testing of the program and anything<00:28:43.600> interesting<00:28:44.159> happened<00:28:44.799> at<00:28:44.960> those 00:28:45.269 --> 00:28:45.279 align:start position:0% anything interesting happened at those 00:28:45.279 --> 00:28:47.269 align:start position:0% anything interesting happened at those points<00:28:45.840> hardware<00:28:46.240> or<00:28:46.320> software 00:28:47.269 --> 00:28:47.279 align:start position:0% points hardware or software 00:28:47.279 --> 00:28:50.549 align:start position:0% points hardware or software both<00:28:48.799> uh<00:28:49.520> well<00:28:50.080> i'll<00:28:50.240> tell<00:28:50.320> you<00:28:50.399> about 00:28:50.549 --> 00:28:50.559 align:start position:0% both uh well i'll tell you about 00:28:50.559 --> 00:28:51.990 align:start position:0% both uh well i'll tell you about software<00:28:50.960> because<00:28:51.200> i'm 00:28:51.990 --> 00:28:52.000 align:start position:0% software because i'm 00:28:52.000 --> 00:28:54.310 align:start position:0% software because i'm i<00:28:52.559> i<00:28:52.720> could<00:28:53.200> i<00:28:53.360> can't<00:28:53.520> talk<00:28:53.760> as<00:28:54.000> much<00:28:54.159> about 00:28:54.310 --> 00:28:54.320 align:start position:0% i i could i can't talk as much about 00:28:54.320 --> 00:28:55.750 align:start position:0% i i could i can't talk as much about hardware 00:28:55.750 --> 00:28:55.760 align:start position:0% hardware 00:28:55.760 --> 00:28:57.750 align:start position:0% hardware so<00:28:56.159> i<00:28:56.240> can<00:28:56.399> tell<00:28:56.559> you<00:28:56.640> that<00:28:56.880> in<00:28:57.039> the<00:28:57.520> in<00:28:57.679> the 00:28:57.750 --> 00:28:57.760 align:start position:0% so i can tell you that in the in the 00:28:57.760 --> 00:29:00.070 align:start position:0% so i can tell you that in the in the early<00:28:58.080> days<00:28:58.320> of<00:28:58.399> ross<00:28:58.720> development 00:29:00.070 --> 00:29:00.080 align:start position:0% early days of ross development 00:29:00.080 --> 00:29:03.110 align:start position:0% early days of ross development we<00:29:00.480> didn't<00:29:00.880> do<00:29:01.120> a<00:29:01.200> lot<00:29:01.360> of<00:29:01.440> testing 00:29:03.110 --> 00:29:03.120 align:start position:0% we didn't do a lot of testing 00:29:03.120 --> 00:29:06.389 align:start position:0% we didn't do a lot of testing we<00:29:03.760> we<00:29:04.640> started<00:29:05.039> building<00:29:05.440> up 00:29:06.389 --> 00:29:06.399 align:start position:0% we we started building up 00:29:06.399 --> 00:29:08.710 align:start position:0% we we started building up pieces<00:29:07.120> and<00:29:07.360> started<00:29:07.760> building<00:29:08.000> up<00:29:08.399> started 00:29:08.710 --> 00:29:08.720 align:start position:0% pieces and started building up started 00:29:08.720 --> 00:29:11.110 align:start position:0% pieces and started building up started building<00:29:08.960> up<00:29:09.039> pieces<00:29:09.360> very<00:29:09.600> very<00:29:09.840> quickly 00:29:11.110 --> 00:29:11.120 align:start position:0% building up pieces very very quickly 00:29:11.120 --> 00:29:13.430 align:start position:0% building up pieces very very quickly in<00:29:11.360> a<00:29:11.520> short<00:29:12.159> period<00:29:12.480> of<00:29:12.559> time<00:29:12.880> we<00:29:13.039> had<00:29:13.200> a<00:29:13.200> lot 00:29:13.430 --> 00:29:13.440 align:start position:0% in a short period of time we had a lot 00:29:13.440 --> 00:29:15.190 align:start position:0% in a short period of time we had a lot of<00:29:13.520> functionality<00:29:14.080> we<00:29:14.240> had<00:29:14.399> the<00:29:14.480> basics<00:29:14.880> for 00:29:15.190 --> 00:29:15.200 align:start position:0% of functionality we had the basics for 00:29:15.200 --> 00:29:16.470 align:start position:0% of functionality we had the basics for controlling<00:29:15.679> the<00:29:15.840> robot 00:29:16.470 --> 00:29:16.480 align:start position:0% controlling the robot 00:29:16.480 --> 00:29:18.310 align:start position:0% controlling the robot we<00:29:16.640> were<00:29:16.799> starting<00:29:17.039> to<00:29:17.120> have<00:29:17.360> it<00:29:17.520> navigate<00:29:18.159> we 00:29:18.310 --> 00:29:18.320 align:start position:0% we were starting to have it navigate we 00:29:18.320 --> 00:29:20.710 align:start position:0% we were starting to have it navigate we were<00:29:18.480> doing<00:29:18.720> some<00:29:19.440> control<00:29:19.840> on<00:29:20.000> the<00:29:20.159> arm 00:29:20.710 --> 00:29:20.720 align:start position:0% were doing some control on the arm 00:29:20.720 --> 00:29:23.029 align:start position:0% were doing some control on the arm perception<00:29:21.200> pieces<00:29:21.520> were<00:29:21.600> coming<00:29:21.840> together 00:29:23.029 --> 00:29:23.039 align:start position:0% perception pieces were coming together 00:29:23.039 --> 00:29:23.990 align:start position:0% perception pieces were coming together and 00:29:23.990 --> 00:29:24.000 align:start position:0% and 00:29:24.000 --> 00:29:25.750 align:start position:0% and we<00:29:24.559> started<00:29:24.880> to<00:29:25.039> have<00:29:25.279> trouble<00:29:25.520> with 00:29:25.750 --> 00:29:25.760 align:start position:0% we started to have trouble with 00:29:25.760 --> 00:29:27.990 align:start position:0% we started to have trouble with stability<00:29:26.880> pretty<00:29:27.120> quickly<00:29:27.440> we<00:29:27.520> had<00:29:27.679> a<00:29:27.760> big 00:29:27.990 --> 00:29:28.000 align:start position:0% stability pretty quickly we had a big 00:29:28.000 --> 00:29:28.710 align:start position:0% stability pretty quickly we had a big code<00:29:28.240> base 00:29:28.710 --> 00:29:28.720 align:start position:0% code base 00:29:28.720 --> 00:29:30.870 align:start position:0% code base that<00:29:28.960> on<00:29:29.200> any<00:29:29.360> given<00:29:29.679> day<00:29:30.240> may<00:29:30.399> or<00:29:30.480> may<00:29:30.640> not 00:29:30.870 --> 00:29:30.880 align:start position:0% that on any given day may or may not 00:29:30.880 --> 00:29:32.710 align:start position:0% that on any given day may or may not compile 00:29:32.710 --> 00:29:32.720 align:start position:0% compile 00:29:32.720 --> 00:29:35.350 align:start position:0% compile and<00:29:33.520> long<00:29:33.760> story<00:29:34.080> short<00:29:34.399> we<00:29:34.640> ended<00:29:34.960> up<00:29:35.039> coming 00:29:35.350 --> 00:29:35.360 align:start position:0% and long story short we ended up coming 00:29:35.360 --> 00:29:35.990 align:start position:0% and long story short we ended up coming around<00:29:35.679> to 00:29:35.990 --> 00:29:36.000 align:start position:0% around to 00:29:36.000 --> 00:29:37.990 align:start position:0% around to very<00:29:36.720> standard<00:29:37.200> software<00:29:37.520> engineering 00:29:37.990 --> 00:29:38.000 align:start position:0% very standard software engineering 00:29:38.000 --> 00:29:39.110 align:start position:0% very standard software engineering techniques 00:29:39.110 --> 00:29:39.120 align:start position:0% techniques 00:29:39.120 --> 00:29:41.269 align:start position:0% techniques where<00:29:39.440> for<00:29:39.600> example<00:29:40.159> you<00:29:40.320> write<00:29:40.559> unit<00:29:40.799> tests 00:29:41.269 --> 00:29:41.279 align:start position:0% where for example you write unit tests 00:29:41.279 --> 00:29:42.950 align:start position:0% where for example you write unit tests and<00:29:41.440> you<00:29:41.600> write<00:29:41.760> regression<00:29:42.320> tests<00:29:42.720> and<00:29:42.880> you 00:29:42.950 --> 00:29:42.960 align:start position:0% and you write regression tests and you 00:29:42.960 --> 00:29:44.870 align:start position:0% and you write regression tests and you have<00:29:43.120> a<00:29:43.360> continuous<00:29:43.919> integration<00:29:44.480> system 00:29:44.870 --> 00:29:44.880 align:start position:0% have a continuous integration system 00:29:44.880 --> 00:29:45.510 align:start position:0% have a continuous integration system that 00:29:45.510 --> 00:29:45.520 align:start position:0% that 00:29:45.520 --> 00:29:46.789 align:start position:0% that is<00:29:45.760> watching<00:29:46.159> the<00:29:46.320> code<00:29:46.559> that<00:29:46.640> you're 00:29:46.789 --> 00:29:46.799 align:start position:0% is watching the code that you're 00:29:46.799 --> 00:29:48.549 align:start position:0% is watching the code that you're checking<00:29:47.200> in<00:29:47.679> checking<00:29:48.000> it<00:29:48.159> out 00:29:48.549 --> 00:29:48.559 align:start position:0% checking in checking it out 00:29:48.559 --> 00:29:51.430 align:start position:0% checking in checking it out compiling<00:29:49.120> it<00:29:49.520> running<00:29:49.840> tests<00:29:50.159> on<00:29:50.399> it<00:29:50.640> and 00:29:51.430 --> 00:29:51.440 align:start position:0% compiling it running tests on it and 00:29:51.440 --> 00:29:52.870 align:start position:0% compiling it running tests on it and giving<00:29:51.679> you<00:29:51.840> some<00:29:52.080> confidence<00:29:52.559> that<00:29:52.799> you 00:29:52.870 --> 00:29:52.880 align:start position:0% giving you some confidence that you 00:29:52.880 --> 00:29:54.149 align:start position:0% giving you some confidence that you didn't<00:29:53.200> break<00:29:53.440> it<00:29:53.520> with<00:29:53.600> that<00:29:53.760> change<00:29:54.080> that 00:29:54.149 --> 00:29:54.159 align:start position:0% didn't break it with that change that 00:29:54.159 --> 00:29:56.310 align:start position:0% didn't break it with that change that you<00:29:54.240> just<00:29:54.399> made<00:29:54.559> it<00:29:54.640> to<00:29:54.880> in<00:29:54.960> the<00:29:55.039> morning 00:29:56.310 --> 00:29:56.320 align:start position:0% you just made it to in the morning 00:29:56.320 --> 00:29:58.389 align:start position:0% you just made it to in the morning what<00:29:56.480> turned<00:29:56.799> out<00:29:56.880> to<00:29:56.960> be<00:29:57.520> very<00:29:57.840> important<00:29:58.159> for 00:29:58.389 --> 00:29:58.399 align:start position:0% what turned out to be very important for 00:29:58.399 --> 00:30:00.070 align:start position:0% what turned out to be very important for us<00:29:58.880> was 00:30:00.070 --> 00:30:00.080 align:start position:0% us was 00:30:00.080 --> 00:30:03.029 align:start position:0% us was whole<00:30:00.399> system<00:30:00.880> regression<00:30:01.360> tests<00:30:02.480> so<00:30:02.799> we've 00:30:03.029 --> 00:30:03.039 align:start position:0% whole system regression tests so we've 00:30:03.039 --> 00:30:04.549 align:start position:0% whole system regression tests so we've got<00:30:03.200> this<00:30:03.520> this<00:30:03.760> very 00:30:04.549 --> 00:30:04.559 align:start position:0% got this this very 00:30:04.559 --> 00:30:06.310 align:start position:0% got this this very complex<00:30:05.200> hardware<00:30:05.520> system<00:30:05.840> and<00:30:06.000> we've<00:30:06.080> got 00:30:06.310 --> 00:30:06.320 align:start position:0% complex hardware system and we've got 00:30:06.320 --> 00:30:08.070 align:start position:0% complex hardware system and we've got this<00:30:06.640> pretty<00:30:06.880> complex<00:30:07.279> software<00:30:07.679> system 00:30:08.070 --> 00:30:08.080 align:start position:0% this pretty complex software system 00:30:08.080 --> 00:30:11.269 align:start position:0% this pretty complex software system as<00:30:08.240> well<00:30:09.200> it's<00:30:09.679> very<00:30:10.000> hard<00:30:10.240> to<00:30:10.399> test<00:30:10.880> every 00:30:11.269 --> 00:30:11.279 align:start position:0% as well it's very hard to test every 00:30:11.279 --> 00:30:12.470 align:start position:0% as well it's very hard to test every little<00:30:11.600> piece<00:30:11.840> of<00:30:12.000> it 00:30:12.470 --> 00:30:12.480 align:start position:0% little piece of it 00:30:12.480 --> 00:30:14.230 align:start position:0% little piece of it as<00:30:12.720> much<00:30:12.960> as<00:30:13.039> we<00:30:13.200> would<00:30:13.600> like<00:30:13.840> there's<00:30:14.080> just 00:30:14.230 --> 00:30:14.240 align:start position:0% as much as we would like there's just 00:30:14.240 --> 00:30:15.430 align:start position:0% as much as we would like there's just there's<00:30:14.480> only<00:30:14.640> so<00:30:14.799> much<00:30:14.960> time<00:30:15.120> that<00:30:15.279> you<00:30:15.360> can 00:30:15.430 --> 00:30:15.440 align:start position:0% there's only so much time that you can 00:30:15.440 --> 00:30:16.789 align:start position:0% there's only so much time that you can dedicate<00:30:15.840> to<00:30:15.919> testing<00:30:16.320> you're<00:30:16.480> never<00:30:16.720> going 00:30:16.789 --> 00:30:16.799 align:start position:0% dedicate to testing you're never going 00:30:16.799 --> 00:30:18.230 align:start position:0% dedicate to testing you're never going to<00:30:16.880> get<00:30:17.039> complete<00:30:17.440> coverage 00:30:18.230 --> 00:30:18.240 align:start position:0% to get complete coverage 00:30:18.240 --> 00:30:21.190 align:start position:0% to get complete coverage and<00:30:18.399> even<00:30:18.559> if<00:30:18.720> you<00:30:18.799> test<00:30:19.120> every<00:30:19.360> piece<00:30:20.720> it's 00:30:21.190 --> 00:30:21.200 align:start position:0% and even if you test every piece it's 00:30:21.200 --> 00:30:21.669 align:start position:0% and even if you test every piece it's then 00:30:21.669 --> 00:30:21.679 align:start position:0% then 00:30:21.679 --> 00:30:22.789 align:start position:0% then if<00:30:21.760> you<00:30:21.919> really<00:30:22.080> want<00:30:22.159> to<00:30:22.240> be<00:30:22.399> complete<00:30:22.640> you 00:30:22.789 --> 00:30:22.799 align:start position:0% if you really want to be complete you 00:30:22.799 --> 00:30:24.310 align:start position:0% if you really want to be complete you need<00:30:22.960> to<00:30:23.039> test<00:30:23.360> every<00:30:23.520> interaction<00:30:24.000> between 00:30:24.310 --> 00:30:24.320 align:start position:0% need to test every interaction between 00:30:24.320 --> 00:30:25.510 align:start position:0% need to test every interaction between every<00:30:24.480> piece<00:30:24.720> and<00:30:24.880> all<00:30:24.960> the<00:30:25.120> different<00:30:25.279> ways 00:30:25.510 --> 00:30:25.520 align:start position:0% every piece and all the different ways 00:30:25.520 --> 00:30:26.789 align:start position:0% every piece and all the different ways you<00:30:25.600> might<00:30:25.760> put<00:30:25.919> them<00:30:26.080> together<00:30:26.399> and<00:30:26.480> that's 00:30:26.789 --> 00:30:26.799 align:start position:0% you might put them together and that's 00:30:26.799 --> 00:30:28.310 align:start position:0% you might put them together and that's pretty<00:30:26.960> much<00:30:27.200> impossible 00:30:28.310 --> 00:30:28.320 align:start position:0% pretty much impossible 00:30:28.320 --> 00:30:30.789 align:start position:0% pretty much impossible so<00:30:28.480> our<00:30:28.640> proxy<00:30:29.200> for<00:30:29.360> doing<00:30:30.000> that<00:30:30.399> complete 00:30:30.789 --> 00:30:30.799 align:start position:0% so our proxy for doing that complete 00:30:30.799 --> 00:30:32.470 align:start position:0% so our proxy for doing that complete coverage<00:30:31.120> which<00:30:31.360> we<00:30:31.520> can't<00:30:31.760> do 00:30:32.470 --> 00:30:32.480 align:start position:0% coverage which we can't do 00:30:32.480 --> 00:30:34.630 align:start position:0% coverage which we can't do is<00:30:32.720> to<00:30:32.880> pick<00:30:33.120> a<00:30:33.200> few<00:30:33.440> tasks<00:30:34.000> that<00:30:34.320> are 00:30:34.630 --> 00:30:34.640 align:start position:0% is to pick a few tasks that are 00:30:34.640 --> 00:30:36.310 align:start position:0% is to pick a few tasks that are representative<00:30:35.279> of<00:30:35.440> what<00:30:35.600> we<00:30:35.679> want<00:30:35.840> the<00:30:36.000> robot 00:30:36.310 --> 00:30:36.320 align:start position:0% representative of what we want the robot 00:30:36.320 --> 00:30:38.070 align:start position:0% representative of what we want the robot to<00:30:36.480> do 00:30:38.070 --> 00:30:38.080 align:start position:0% to do 00:30:38.080 --> 00:30:41.110 align:start position:0% to do make<00:30:38.320> those<00:30:38.559> tasks<00:30:39.279> work<00:30:39.760> in<00:30:39.919> simulation<00:30:40.880> and 00:30:41.110 --> 00:30:41.120 align:start position:0% make those tasks work in simulation and 00:30:41.120 --> 00:30:41.830 align:start position:0% make those tasks work in simulation and then 00:30:41.830 --> 00:30:41.840 align:start position:0% then 00:30:41.840 --> 00:30:44.070 align:start position:0% then have<00:30:42.000> a<00:30:42.080> regression<00:30:42.640> test<00:30:43.039> that<00:30:43.520> runs<00:30:43.840> inside 00:30:44.070 --> 00:30:44.080 align:start position:0% have a regression test that runs inside 00:30:44.080 --> 00:30:44.870 align:start position:0% have a regression test that runs inside the<00:30:44.240> simulator 00:30:44.870 --> 00:30:44.880 align:start position:0% the simulator 00:30:44.880 --> 00:30:46.950 align:start position:0% the simulator so<00:30:45.200> for<00:30:45.360> example<00:30:45.679> once<00:30:45.919> we<00:30:46.000> had<00:30:46.159> the<00:30:46.240> robot 00:30:46.950 --> 00:30:46.960 align:start position:0% so for example once we had the robot 00:30:46.960 --> 00:30:48.230 align:start position:0% so for example once we had the robot opening<00:30:47.360> doors 00:30:48.230 --> 00:30:48.240 align:start position:0% opening doors 00:30:48.240 --> 00:30:50.070 align:start position:0% opening doors we<00:30:48.399> made<00:30:48.640> sure<00:30:48.799> that<00:30:48.880> it<00:30:48.960> would<00:30:49.200> open<00:30:49.360> doors<00:30:49.919> in 00:30:50.070 --> 00:30:50.080 align:start position:0% we made sure that it would open doors in 00:30:50.080 --> 00:30:52.710 align:start position:0% we made sure that it would open doors in simulation<00:30:50.640> in<00:30:50.799> a<00:30:50.960> 3d<00:30:51.440> physics-based 00:30:52.710 --> 00:30:52.720 align:start position:0% simulation in a 3d physics-based 00:30:52.720 --> 00:30:55.430 align:start position:0% simulation in a 3d physics-based you<00:30:52.880> know<00:30:53.200> pretty<00:30:53.520> realistic<00:30:54.000> simulation<00:30:55.360> and 00:30:55.430 --> 00:30:55.440 align:start position:0% you know pretty realistic simulation and 00:30:55.440 --> 00:30:57.029 align:start position:0% you know pretty realistic simulation and then<00:30:55.679> that<00:30:55.840> becomes<00:30:56.159> a<00:30:56.240> regression<00:30:56.720> test 00:30:57.029 --> 00:30:57.039 align:start position:0% then that becomes a regression test 00:30:57.039 --> 00:30:59.430 align:start position:0% then that becomes a regression test anytime<00:30:57.519> somebody<00:30:57.840> checks<00:30:58.159> in<00:30:58.320> code<00:30:58.640> that 00:30:59.430 --> 00:30:59.440 align:start position:0% anytime somebody checks in code that 00:30:59.440 --> 00:31:01.509 align:start position:0% anytime somebody checks in code that checks<00:30:59.679> in<00:30:59.840> a<00:31:00.000> change<00:31:00.399> to<00:31:00.559> the<00:31:00.720> code<00:31:01.120> that<00:31:01.360> is 00:31:01.509 --> 00:31:01.519 align:start position:0% checks in a change to the code that is 00:31:01.519 --> 00:31:03.029 align:start position:0% checks in a change to the code that is involved<00:31:01.919> in<00:31:02.080> opening<00:31:02.399> a<00:31:02.480> door 00:31:03.029 --> 00:31:03.039 align:start position:0% involved in opening a door 00:31:03.039 --> 00:31:05.269 align:start position:0% involved in opening a door somewhere<00:31:03.519> on<00:31:03.600> a<00:31:03.760> server<00:31:04.159> in<00:31:04.320> a<00:31:04.399> room<00:31:05.039> in<00:31:05.120> the 00:31:05.269 --> 00:31:05.279 align:start position:0% somewhere on a server in a room in the 00:31:05.279 --> 00:31:06.630 align:start position:0% somewhere on a server in a room in the back<00:31:05.600> there's<00:31:05.919> a 00:31:06.630 --> 00:31:06.640 align:start position:0% back there's a 00:31:06.640 --> 00:31:08.470 align:start position:0% back there's a simulation<00:31:07.279> spins<00:31:07.600> up<00:31:07.760> with<00:31:07.919> the<00:31:08.000> road<00:31:08.240> with<00:31:08.399> a 00:31:08.470 --> 00:31:08.480 align:start position:0% simulation spins up with the road with a 00:31:08.480 --> 00:31:10.470 align:start position:0% simulation spins up with the road with a pr2<00:31:09.200> on<00:31:09.360> one<00:31:09.519> side<00:31:09.679> of<00:31:09.840> a<00:31:09.919> door<00:31:10.080> and<00:31:10.159> it's<00:31:10.320> got 00:31:10.470 --> 00:31:10.480 align:start position:0% pr2 on one side of a door and it's got 00:31:10.480 --> 00:31:11.830 align:start position:0% pr2 on one side of a door and it's got its<00:31:10.640> arms<00:31:10.880> tucked<00:31:11.200> and<00:31:11.360> it's 00:31:11.830 --> 00:31:11.840 align:start position:0% its arms tucked and it's 00:31:11.840 --> 00:31:13.509 align:start position:0% its arms tucked and it's and<00:31:12.000> it<00:31:12.159> runs<00:31:12.399> the<00:31:12.559> whole<00:31:12.880> door<00:31:13.120> opening 00:31:13.509 --> 00:31:13.519 align:start position:0% and it runs the whole door opening 00:31:13.519 --> 00:31:15.350 align:start position:0% and it runs the whole door opening sequence<00:31:14.080> where<00:31:14.320> it<00:31:14.399> looks<00:31:14.559> for<00:31:14.720> the<00:31:14.799> handle 00:31:15.350 --> 00:31:15.360 align:start position:0% sequence where it looks for the handle 00:31:15.360 --> 00:31:17.029 align:start position:0% sequence where it looks for the handle and<00:31:15.440> then<00:31:15.679> reaches<00:31:16.080> out<00:31:16.159> an<00:31:16.320> arm<00:31:16.559> and<00:31:16.720> opens 00:31:17.029 --> 00:31:17.039 align:start position:0% and then reaches out an arm and opens 00:31:17.039 --> 00:31:18.789 align:start position:0% and then reaches out an arm and opens the<00:31:17.120> door<00:31:17.440> and<00:31:17.919> pushes<00:31:18.240> the<00:31:18.320> door<00:31:18.559> open<00:31:18.720> and 00:31:18.789 --> 00:31:18.799 align:start position:0% the door and pushes the door open and 00:31:18.799 --> 00:31:20.070 align:start position:0% the door and pushes the door open and then<00:31:18.960> drives<00:31:19.360> through 00:31:20.070 --> 00:31:20.080 align:start position:0% then drives through 00:31:20.080 --> 00:31:21.830 align:start position:0% then drives through and<00:31:20.240> we<00:31:20.399> can<00:31:20.480> make<00:31:20.720> that<00:31:20.960> into<00:31:21.200> a<00:31:21.279> test<00:31:21.600> by 00:31:21.830 --> 00:31:21.840 align:start position:0% and we can make that into a test by 00:31:21.840 --> 00:31:23.509 align:start position:0% and we can make that into a test by saying<00:31:22.880> in 00:31:23.509 --> 00:31:23.519 align:start position:0% saying in 00:31:23.519 --> 00:31:25.110 align:start position:0% saying in in<00:31:23.840> within<00:31:24.080> some<00:31:24.320> period<00:31:24.559> of<00:31:24.640> time<00:31:24.880> did<00:31:25.039> the 00:31:25.110 --> 00:31:25.120 align:start position:0% in within some period of time did the 00:31:25.120 --> 00:31:26.549 align:start position:0% in within some period of time did the robot<00:31:25.519> end<00:31:25.679> up<00:31:25.840> on<00:31:25.919> the<00:31:26.000> other<00:31:26.159> side<00:31:26.320> of<00:31:26.480> the 00:31:26.549 --> 00:31:26.559 align:start position:0% robot end up on the other side of the 00:31:26.559 --> 00:31:27.029 align:start position:0% robot end up on the other side of the door 00:31:27.029 --> 00:31:27.039 align:start position:0% door 00:31:27.039 --> 00:31:29.669 align:start position:0% door or<00:31:27.279> not<00:31:28.240> and<00:31:28.480> it<00:31:28.559> turns<00:31:28.799> out<00:31:28.960> those<00:31:29.279> those<00:31:29.519> kind 00:31:29.669 --> 00:31:29.679 align:start position:0% or not and it turns out those those kind 00:31:29.679 --> 00:31:31.750 align:start position:0% or not and it turns out those those kind of<00:31:29.760> trip<00:31:30.000> wire<00:31:30.320> tests<00:31:30.720> you<00:31:30.880> know<00:31:31.120> did<00:31:31.360> it 00:31:31.750 --> 00:31:31.760 align:start position:0% of trip wire tests you know did it 00:31:31.760 --> 00:31:33.669 align:start position:0% of trip wire tests you know did it does<00:31:32.000> it<00:31:32.240> no<00:31:32.480> longer<00:31:32.799> get<00:31:32.960> through<00:31:33.120> the<00:31:33.200> door 00:31:33.669 --> 00:31:33.679 align:start position:0% does it no longer get through the door 00:31:33.679 --> 00:31:35.269 align:start position:0% does it no longer get through the door are<00:31:33.840> really<00:31:34.159> important 00:31:35.269 --> 00:31:35.279 align:start position:0% are really important 00:31:35.279 --> 00:31:36.789 align:start position:0% are really important when<00:31:35.440> the<00:31:35.519> light<00:31:35.760> turns<00:31:36.080> red<00:31:36.320> on<00:31:36.399> that<00:31:36.559> test 00:31:36.789 --> 00:31:36.799 align:start position:0% when the light turns red on that test 00:31:36.799 --> 00:31:37.909 align:start position:0% when the light turns red on that test you<00:31:36.880> know<00:31:37.039> something<00:31:37.279> went<00:31:37.440> wrong<00:31:37.679> you<00:31:37.760> don't 00:31:37.909 --> 00:31:37.919 align:start position:0% you know something went wrong you don't 00:31:37.919 --> 00:31:38.789 align:start position:0% you know something went wrong you don't know<00:31:38.080> what 00:31:38.789 --> 00:31:38.799 align:start position:0% know what 00:31:38.799 --> 00:31:40.389 align:start position:0% know what but<00:31:38.960> you<00:31:39.120> can<00:31:39.279> look<00:31:39.440> at<00:31:39.519> the<00:31:39.600> changes<00:31:40.000> between 00:31:40.389 --> 00:31:40.399 align:start position:0% but you can look at the changes between 00:31:40.399 --> 00:31:42.070 align:start position:0% but you can look at the changes between the<00:31:40.480> last<00:31:40.640> time<00:31:40.880> it<00:31:40.960> was<00:31:41.519> you<00:31:41.679> know<00:31:41.760> between 00:31:42.070 --> 00:31:42.080 align:start position:0% the last time it was you know between 00:31:42.080 --> 00:31:43.830 align:start position:0% the last time it was you know between when<00:31:42.159> it<00:31:42.240> was<00:31:42.399> green<00:31:42.640> and<00:31:42.720> red<00:31:43.039> and<00:31:43.120> then 00:31:43.830 --> 00:31:43.840 align:start position:0% when it was green and red and then 00:31:43.840 --> 00:31:46.870 align:start position:0% when it was green and red and then and<00:31:44.000> then<00:31:44.159> figure<00:31:44.399> out<00:31:44.480> what<00:31:44.840> happened<00:31:46.559> and<00:31:46.720> do 00:31:46.870 --> 00:31:46.880 align:start position:0% and then figure out what happened and do 00:31:46.880 --> 00:31:48.310 align:start position:0% and then figure out what happened and do you<00:31:47.039> try<00:31:47.200> to<00:31:47.279> use<00:31:47.519> that<00:31:47.760> sign<00:31:48.000> of 00:31:48.310 --> 00:31:48.320 align:start position:0% you try to use that sign of 00:31:48.320 --> 00:31:50.470 align:start position:0% you try to use that sign of testing<00:31:48.720> reliability<00:31:49.519> for<00:31:50.159> you<00:31:50.320> know 00:31:50.470 --> 00:31:50.480 align:start position:0% testing reliability for you know 00:31:50.480 --> 00:31:52.389 align:start position:0% testing reliability for you know community<00:31:51.039> generated<00:31:51.600> code 00:31:52.389 --> 00:31:52.399 align:start position:0% community generated code 00:31:52.399 --> 00:31:55.190 align:start position:0% community generated code or<00:31:53.200> integrating<00:31:53.760> things<00:31:54.000> that<00:31:54.399> other<00:31:54.880> members 00:31:55.190 --> 00:31:55.200 align:start position:0% or integrating things that other members 00:31:55.200 --> 00:31:56.549 align:start position:0% or integrating things that other members of<00:31:55.279> the<00:31:55.360> open<00:31:55.600> source<00:31:55.919> community<00:31:56.399> are 00:31:56.549 --> 00:31:56.559 align:start position:0% of the open source community are 00:31:56.559 --> 00:31:58.389 align:start position:0% of the open source community are developing 00:31:58.389 --> 00:31:58.399 align:start position:0% developing 00:31:58.399 --> 00:32:01.830 align:start position:0% developing so<00:31:58.640> to<00:31:59.519> to<00:31:59.760> improve<00:32:00.320> quality<00:32:00.960> or<00:32:01.200> or 00:32:01.830 --> 00:32:01.840 align:start position:0% so to to improve quality or or 00:32:01.840 --> 00:32:03.909 align:start position:0% so to to improve quality or or support<00:32:02.880> quality<00:32:03.200> assurance<00:32:03.679> in<00:32:03.760> the 00:32:03.909 --> 00:32:03.919 align:start position:0% support quality assurance in the 00:32:03.919 --> 00:32:05.590 align:start position:0% support quality assurance in the community<00:32:04.399> we<00:32:04.640> we<00:32:04.799> do<00:32:04.960> two<00:32:05.200> things 00:32:05.590 --> 00:32:05.600 align:start position:0% community we we do two things 00:32:05.600 --> 00:32:08.710 align:start position:0% community we we do two things one<00:32:05.919> is<00:32:06.880> um<00:32:08.159> one<00:32:08.399> is 00:32:08.710 --> 00:32:08.720 align:start position:0% one is um one is 00:32:08.720 --> 00:32:11.669 align:start position:0% one is um one is technical<00:32:09.279> in<00:32:09.440> that<00:32:09.760> we<00:32:10.399> uh<00:32:10.720> if<00:32:11.200> people 00:32:11.669 --> 00:32:11.679 align:start position:0% technical in that we uh if people 00:32:11.679 --> 00:32:13.190 align:start position:0% technical in that we uh if people release<00:32:12.080> their<00:32:12.240> code<00:32:12.480> we<00:32:12.559> have<00:32:12.640> a<00:32:12.880> release 00:32:13.190 --> 00:32:13.200 align:start position:0% release their code we have a release 00:32:13.200 --> 00:32:13.669 align:start position:0% release their code we have a release system 00:32:13.669 --> 00:32:13.679 align:start position:0% system 00:32:13.679 --> 00:32:15.669 align:start position:0% system so<00:32:13.840> you<00:32:14.000> can<00:32:14.399> decide<00:32:14.799> to<00:32:14.880> release<00:32:15.279> your<00:32:15.440> code 00:32:15.669 --> 00:32:15.679 align:start position:0% so you can decide to release your code 00:32:15.679 --> 00:32:16.710 align:start position:0% so you can decide to release your code to<00:32:15.840> the<00:32:15.919> world 00:32:16.710 --> 00:32:16.720 align:start position:0% to the world 00:32:16.720 --> 00:32:19.909 align:start position:0% to the world then<00:32:17.760> it<00:32:18.000> runs<00:32:18.399> on<00:32:18.960> our<00:32:19.279> automated 00:32:19.909 --> 00:32:19.919 align:start position:0% then it runs on our automated 00:32:19.919 --> 00:32:22.149 align:start position:0% then it runs on our automated servers<00:32:20.720> where<00:32:21.039> it<00:32:21.120> will<00:32:21.360> run<00:32:21.600> all<00:32:21.679> the<00:32:21.840> tests 00:32:22.149 --> 00:32:22.159 align:start position:0% servers where it will run all the tests 00:32:22.159 --> 00:32:23.430 align:start position:0% servers where it will run all the tests that<00:32:22.320> you<00:32:22.399> defined 00:32:23.430 --> 00:32:23.440 align:start position:0% that you defined 00:32:23.440 --> 00:32:25.350 align:start position:0% that you defined and<00:32:23.840> give<00:32:24.000> you<00:32:24.159> reports<00:32:24.640> did<00:32:24.799> they<00:32:24.960> pass<00:32:25.200> did 00:32:25.350 --> 00:32:25.360 align:start position:0% and give you reports did they pass did 00:32:25.360 --> 00:32:26.870 align:start position:0% and give you reports did they pass did they<00:32:25.600> fail 00:32:26.870 --> 00:32:26.880 align:start position:0% they fail 00:32:26.880 --> 00:32:28.549 align:start position:0% they fail of<00:32:26.960> course<00:32:27.600> that's<00:32:27.840> not<00:32:28.000> very<00:32:28.159> helpful<00:32:28.399> if<00:32:28.480> you 00:32:28.549 --> 00:32:28.559 align:start position:0% of course that's not very helpful if you 00:32:28.559 --> 00:32:29.909 align:start position:0% of course that's not very helpful if you didn't<00:32:28.720> write<00:32:28.880> any<00:32:29.120> tests 00:32:29.909 --> 00:32:29.919 align:start position:0% didn't write any tests 00:32:29.919 --> 00:32:32.310 align:start position:0% didn't write any tests um<00:32:30.399> and<00:32:30.640> we<00:32:30.880> can't<00:32:31.360> write<00:32:31.519> the<00:32:31.679> test<00:32:31.919> for<00:32:32.159> you 00:32:32.310 --> 00:32:32.320 align:start position:0% um and we can't write the test for you 00:32:32.320 --> 00:32:33.590 align:start position:0% um and we can't write the test for you well<00:32:32.559> we<00:32:32.720> could<00:32:32.880> but<00:32:33.039> i<00:32:33.120> don't<00:32:33.279> think<00:32:33.360> that's 00:32:33.590 --> 00:32:33.600 align:start position:0% well we could but i don't think that's 00:32:33.600 --> 00:32:35.190 align:start position:0% well we could but i don't think that's the<00:32:33.679> best<00:32:33.840> use<00:32:34.080> of<00:32:34.159> our<00:32:34.240> time<00:32:34.480> so<00:32:34.640> instead<00:32:35.039> what 00:32:35.190 --> 00:32:35.200 align:start position:0% the best use of our time so instead what 00:32:35.200 --> 00:32:36.070 align:start position:0% the best use of our time so instead what we<00:32:35.360> do 00:32:36.070 --> 00:32:36.080 align:start position:0% we do 00:32:36.080 --> 00:32:40.789 align:start position:0% we do is<00:32:36.799> uh<00:32:37.600> try<00:32:37.760> to<00:32:38.559> build<00:32:38.799> a<00:32:38.960> culture<00:32:39.440> of<00:32:39.679> testing 00:32:40.789 --> 00:32:40.799 align:start position:0% is uh try to build a culture of testing 00:32:40.799 --> 00:32:43.990 align:start position:0% is uh try to build a culture of testing which<00:32:41.279> is<00:32:41.919> i<00:32:42.080> think<00:32:42.480> unusual<00:32:43.200> in<00:32:43.440> in<00:32:43.519> the 00:32:43.990 --> 00:32:44.000 align:start position:0% which is i think unusual in in the 00:32:44.000 --> 00:32:46.149 align:start position:0% which is i think unusual in in the in<00:32:44.080> the<00:32:44.159> research<00:32:44.559> community<00:32:45.440> to<00:32:45.760> in<00:32:45.919> my 00:32:46.149 --> 00:32:46.159 align:start position:0% in the research community to in my 00:32:46.159 --> 00:32:48.070 align:start position:0% in the research community to in my experience<00:32:46.640> there's<00:32:46.880> not<00:32:47.120> a<00:32:47.279> not<00:32:47.440> a<00:32:47.519> big<00:32:47.679> focus 00:32:48.070 --> 00:32:48.080 align:start position:0% experience there's not a not a big focus 00:32:48.080 --> 00:32:48.870 align:start position:0% experience there's not a not a big focus on<00:32:48.240> writing 00:32:48.870 --> 00:32:48.880 align:start position:0% on writing 00:32:48.880 --> 00:32:52.230 align:start position:0% on writing tests<00:32:50.159> so<00:32:50.559> we're<00:32:50.880> trying<00:32:51.679> and 00:32:52.230 --> 00:32:52.240 align:start position:0% tests so we're trying and 00:32:52.240 --> 00:32:55.430 align:start position:0% tests so we're trying and with<00:32:52.399> some<00:32:52.640> success<00:32:53.279> to<00:32:53.760> set<00:32:54.000> an<00:32:54.159> example<00:32:55.120> for 00:32:55.430 --> 00:32:55.440 align:start position:0% with some success to set an example for 00:32:55.440 --> 00:32:56.549 align:start position:0% with some success to set an example for what's<00:32:55.760> expected 00:32:56.549 --> 00:32:56.559 align:start position:0% what's expected 00:32:56.559 --> 00:32:58.950 align:start position:0% what's expected for<00:32:56.799> good<00:32:57.039> software<00:32:57.679> in<00:32:57.840> robotics<00:32:58.480> even 00:32:58.950 --> 00:32:58.960 align:start position:0% for good software in robotics even 00:32:58.960 --> 00:33:00.710 align:start position:0% for good software in robotics even coming<00:32:59.200> out<00:32:59.360> of<00:32:59.440> a<00:32:59.519> research<00:32:59.919> lab 00:33:00.710 --> 00:33:00.720 align:start position:0% coming out of a research lab 00:33:00.720 --> 00:33:03.590 align:start position:0% coming out of a research lab you<00:33:00.799> know<00:33:01.039> even<00:33:02.000> it's<00:33:02.320> it's<00:33:02.880> so<00:33:03.120> much<00:33:03.360> better 00:33:03.590 --> 00:33:03.600 align:start position:0% you know even it's it's so much better 00:33:03.600 --> 00:33:05.269 align:start position:0% you know even it's it's so much better to<00:33:03.760> have<00:33:03.919> basic<00:33:04.320> tests<00:33:04.720> that 00:33:05.269 --> 00:33:05.279 align:start position:0% to have basic tests that 00:33:05.279 --> 00:33:07.430 align:start position:0% to have basic tests that show<00:33:05.519> that<00:33:05.760> it<00:33:05.919> doesn't<00:33:06.480> just<00:33:06.960> break<00:33:07.200> out<00:33:07.279> of 00:33:07.430 --> 00:33:07.440 align:start position:0% show that it doesn't just break out of 00:33:07.440 --> 00:33:09.269 align:start position:0% show that it doesn't just break out of the<00:33:07.519> box<00:33:08.080> than<00:33:08.240> it<00:33:08.399> is<00:33:08.480> to<00:33:08.640> have<00:33:08.720> no<00:33:08.880> test<00:33:09.200> at 00:33:09.269 --> 00:33:09.279 align:start position:0% the box than it is to have no test at 00:33:09.279 --> 00:33:09.990 align:start position:0% the box than it is to have no test at all 00:33:09.990 --> 00:33:10.000 align:start position:0% all 00:33:10.000 --> 00:33:11.830 align:start position:0% all and<00:33:10.640> and<00:33:10.799> that's<00:33:11.279> i<00:33:11.360> think<00:33:11.519> we're<00:33:11.679> getting 00:33:11.830 --> 00:33:11.840 align:start position:0% and and that's i think we're getting 00:33:11.840 --> 00:33:13.750 align:start position:0% and and that's i think we're getting some<00:33:12.080> traction<00:33:12.559> i<00:33:12.640> mean<00:33:12.799> even<00:33:13.120> you<00:33:13.200> know<00:33:13.440> grad 00:33:13.750 --> 00:33:13.760 align:start position:0% some traction i mean even you know grad 00:33:13.760 --> 00:33:16.389 align:start position:0% some traction i mean even you know grad students<00:33:14.320> uh<00:33:14.880> in<00:33:15.279> university<00:33:15.760> labs<00:33:16.240> are 00:33:16.389 --> 00:33:16.399 align:start position:0% students uh in university labs are 00:33:16.399 --> 00:33:17.430 align:start position:0% students uh in university labs are actually<00:33:16.720> writing<00:33:16.960> tests<00:33:17.200> for<00:33:17.279> their 00:33:17.430 --> 00:33:17.440 align:start position:0% actually writing tests for their 00:33:17.440 --> 00:33:18.630 align:start position:0% actually writing tests for their software<00:33:17.760> which<00:33:18.000> is<00:33:18.080> something<00:33:18.320> i 00:33:18.630 --> 00:33:18.640 align:start position:0% software which is something i 00:33:18.640 --> 00:33:20.149 align:start position:0% software which is something i never<00:33:18.960> did<00:33:19.279> as<00:33:19.440> a<00:33:19.519> grad<00:33:19.679> student<00:33:20.000> in 00:33:20.149 --> 00:33:20.159 align:start position:0% never did as a grad student in 00:33:20.159 --> 00:33:22.630 align:start position:0% never did as a grad student in university<00:33:20.559> lab<00:33:21.600> and<00:33:21.760> how<00:33:21.919> are<00:33:22.000> you<00:33:22.159> raising 00:33:22.630 --> 00:33:22.640 align:start position:0% university lab and how are you raising 00:33:22.640 --> 00:33:26.310 align:start position:0% university lab and how are you raising that<00:33:22.799> kind<00:33:22.960> of<00:33:23.120> awareness<00:33:23.600> with<00:33:23.760> people 00:33:26.310 --> 00:33:26.320 align:start position:0% 00:33:26.320 --> 00:33:30.710 align:start position:0% well<00:33:26.720> it's<00:33:27.279> um<00:33:29.120> what<00:33:29.360> we 00:33:30.710 --> 00:33:30.720 align:start position:0% well it's um what we 00:33:30.720 --> 00:33:32.230 align:start position:0% well it's um what we i<00:33:30.880> guess<00:33:31.039> we're<00:33:31.200> raising<00:33:31.519> awareness<00:33:31.919> about 00:33:32.230 --> 00:33:32.240 align:start position:0% i guess we're raising awareness about 00:33:32.240 --> 00:33:34.630 align:start position:0% i guess we're raising awareness about testing<00:33:33.039> mostly 00:33:34.630 --> 00:33:34.640 align:start position:0% testing mostly 00:33:34.640 --> 00:33:38.630 align:start position:0% testing mostly by<00:33:36.080> just<00:33:36.320> by<00:33:36.559> our<00:33:37.120> just<00:33:37.279> by<00:33:37.440> our<00:33:37.519> own<00:33:37.760> example 00:33:38.630 --> 00:33:38.640 align:start position:0% by just by our just by our own example 00:33:38.640 --> 00:33:40.710 align:start position:0% by just by our just by our own example if<00:33:38.799> you<00:33:38.880> go<00:33:39.120> and<00:33:39.600> look<00:33:39.840> at<00:33:40.159> code<00:33:40.399> that<00:33:40.480> we've 00:33:40.710 --> 00:33:40.720 align:start position:0% if you go and look at code that we've 00:33:40.720 --> 00:33:41.750 align:start position:0% if you go and look at code that we've written 00:33:41.750 --> 00:33:41.760 align:start position:0% written 00:33:41.760 --> 00:33:44.630 align:start position:0% written you'll<00:33:42.080> find<00:33:43.039> a<00:33:43.440> good<00:33:43.679> measure<00:33:44.000> of<00:33:44.080> testing<00:33:44.559> in 00:33:44.630 --> 00:33:44.640 align:start position:0% you'll find a good measure of testing in 00:33:44.640 --> 00:33:45.269 align:start position:0% you'll find a good measure of testing in there 00:33:45.269 --> 00:33:45.279 align:start position:0% there 00:33:45.279 --> 00:33:49.350 align:start position:0% there um<00:33:46.399> and<00:33:47.600> we<00:33:48.000> you<00:33:48.159> know<00:33:48.240> we<00:33:48.399> let<00:33:48.559> everybody<00:33:48.960> know 00:33:49.350 --> 00:33:49.360 align:start position:0% um and we you know we let everybody know 00:33:49.360 --> 00:33:51.190 align:start position:0% um and we you know we let everybody know that<00:33:49.519> the<00:33:49.840> the<00:33:50.000> best<00:33:50.240> way<00:33:50.559> to<00:33:50.799> protect 00:33:51.190 --> 00:33:51.200 align:start position:0% that the the best way to protect 00:33:51.200 --> 00:33:52.470 align:start position:0% that the the best way to protect yourself<00:33:51.760> against 00:33:52.470 --> 00:33:52.480 align:start position:0% yourself against 00:33:52.480 --> 00:33:54.789 align:start position:0% yourself against changes<00:33:53.120> in<00:33:53.279> the<00:33:53.440> system<00:33:54.000> is<00:33:54.080> to<00:33:54.240> have<00:33:54.480> tests 00:33:54.789 --> 00:33:54.799 align:start position:0% changes in the system is to have tests 00:33:54.799 --> 00:33:56.310 align:start position:0% changes in the system is to have tests in<00:33:54.880> your<00:33:55.039> code<00:33:55.440> so<00:33:55.600> if<00:33:55.679> you've 00:33:56.310 --> 00:33:56.320 align:start position:0% in your code so if you've 00:33:56.320 --> 00:33:57.909 align:start position:0% in your code so if you've if<00:33:56.480> you've<00:33:56.640> written<00:33:56.960> tests<00:33:57.440> and<00:33:57.760> you've 00:33:57.909 --> 00:33:57.919 align:start position:0% if you've written tests and you've 00:33:57.919 --> 00:33:59.430 align:start position:0% if you've written tests and you've released<00:33:58.320> your<00:33:58.480> code 00:33:59.430 --> 00:33:59.440 align:start position:0% released your code 00:33:59.440 --> 00:34:01.830 align:start position:0% released your code and<00:33:59.679> somebody<00:34:00.000> else<00:34:00.240> makes<00:34:00.559> a<00:34:00.640> change<00:34:01.039> that<00:34:01.600> is 00:34:01.830 --> 00:34:01.840 align:start position:0% and somebody else makes a change that is 00:34:01.840 --> 00:34:03.430 align:start position:0% and somebody else makes a change that is going<00:34:01.919> to<00:34:02.080> break<00:34:02.399> your<00:34:02.640> piece<00:34:03.039> and<00:34:03.120> you<00:34:03.279> have<00:34:03.360> a 00:34:03.430 --> 00:34:03.440 align:start position:0% going to break your piece and you have a 00:34:03.440 --> 00:34:04.950 align:start position:0% going to break your piece and you have a test<00:34:03.679> against<00:34:04.080> it<00:34:04.240> then 00:34:04.950 --> 00:34:04.960 align:start position:0% test against it then 00:34:04.960 --> 00:34:06.789 align:start position:0% test against it then you<00:34:05.039> know<00:34:05.440> the<00:34:05.600> light<00:34:05.840> will<00:34:05.919> turn<00:34:06.240> red<00:34:06.640> when 00:34:06.789 --> 00:34:06.799 align:start position:0% you know the light will turn red when 00:34:06.799 --> 00:34:08.550 align:start position:0% you know the light will turn red when that<00:34:07.039> other<00:34:07.200> person<00:34:07.600> made<00:34:07.760> a<00:34:07.919> change 00:34:08.550 --> 00:34:08.560 align:start position:0% that other person made a change 00:34:08.560 --> 00:34:11.270 align:start position:0% that other person made a change and<00:34:08.720> then<00:34:09.119> you<00:34:09.280> can<00:34:09.839> you've<00:34:10.079> got<00:34:10.240> a<00:34:10.639> chain<00:34:10.960> of 00:34:11.270 --> 00:34:11.280 align:start position:0% and then you can you've got a chain of 00:34:11.280 --> 00:34:11.990 align:start position:0% and then you can you've got a chain of uh 00:34:11.990 --> 00:34:12.000 align:start position:0% uh 00:34:12.000 --> 00:34:13.349 align:start position:0% uh responsibility<00:34:12.720> there<00:34:12.879> and<00:34:13.040> you<00:34:13.119> can<00:34:13.200> get 00:34:13.349 --> 00:34:13.359 align:start position:0% responsibility there and you can get 00:34:13.359 --> 00:34:14.629 align:start position:0% responsibility there and you can get back<00:34:13.520> to<00:34:13.599> the<00:34:13.679> person<00:34:13.919> who<00:34:14.000> made<00:34:14.159> the<00:34:14.320> change 00:34:14.629 --> 00:34:14.639 align:start position:0% back to the person who made the change 00:34:14.639 --> 00:34:16.230 align:start position:0% back to the person who made the change if<00:34:14.800> you<00:34:14.879> didn't<00:34:15.119> have<00:34:15.280> a<00:34:15.440> test 00:34:16.230 --> 00:34:16.240 align:start position:0% if you didn't have a test 00:34:16.240 --> 00:34:18.710 align:start position:0% if you didn't have a test that<00:34:16.720> that<00:34:17.359> demonstrated<00:34:17.919> that<00:34:18.000> your<00:34:18.240> thing 00:34:18.710 --> 00:34:18.720 align:start position:0% that that demonstrated that your thing 00:34:18.720 --> 00:34:19.750 align:start position:0% that that demonstrated that your thing is<00:34:18.879> no<00:34:19.040> longer<00:34:19.359> working 00:34:19.750 --> 00:34:19.760 align:start position:0% is no longer working 00:34:19.760 --> 00:34:23.669 align:start position:0% is no longer working then<00:34:20.159> we<00:34:20.320> can't<00:34:20.480> do<00:34:20.639> anything<00:34:20.800> about<00:34:21.040> that 00:34:23.669 --> 00:34:23.679 align:start position:0% 00:34:23.679 --> 00:34:26.950 align:start position:0% and<00:34:23.839> have<00:34:24.000> you<00:34:25.200> have<00:34:25.440> you<00:34:25.520> found<00:34:25.760> people<00:34:26.159> uh 00:34:26.950 --> 00:34:26.960 align:start position:0% and have you have you found people uh 00:34:26.960 --> 00:34:29.030 align:start position:0% and have you have you found people uh trying<00:34:27.200> to<00:34:27.359> port<00:34:27.599> ross<00:34:27.919> to<00:34:28.079> other<00:34:28.320> platforms 00:34:29.030 --> 00:34:29.040 align:start position:0% trying to port ross to other platforms 00:34:29.040 --> 00:34:30.550 align:start position:0% trying to port ross to other platforms and<00:34:29.200> pr2 00:34:30.550 --> 00:34:30.560 align:start position:0% and pr2 00:34:30.560 --> 00:34:33.430 align:start position:0% and pr2 oh<00:34:30.960> yes<00:34:31.280> ross<00:34:32.079> so<00:34:32.560> we<00:34:32.720> designed<00:34:33.040> ross<00:34:33.280> for<00:34:33.359> the 00:34:33.430 --> 00:34:33.440 align:start position:0% oh yes ross so we designed ross for the 00:34:33.440 --> 00:34:34.149 align:start position:0% oh yes ross so we designed ross for the pr2 00:34:34.149 --> 00:34:34.159 align:start position:0% pr2 00:34:34.159 --> 00:34:37.270 align:start position:0% pr2 but<00:34:34.720> um<00:34:35.599> from<00:34:35.839> the<00:34:35.919> very<00:34:36.159> beginning<00:34:36.800> we<00:34:36.960> wanted 00:34:37.270 --> 00:34:37.280 align:start position:0% but um from the very beginning we wanted 00:34:37.280 --> 00:34:37.909 align:start position:0% but um from the very beginning we wanted it<00:34:37.440> to 00:34:37.909 --> 00:34:37.919 align:start position:0% it to 00:34:37.919 --> 00:34:40.230 align:start position:0% it to not<00:34:38.159> only<00:34:38.399> be<00:34:38.560> for<00:34:38.720> the<00:34:38.800> pr2<00:34:39.359> we<00:34:39.440> knew<00:34:39.599> that<00:34:40.000> the 00:34:40.230 --> 00:34:40.240 align:start position:0% not only be for the pr2 we knew that the 00:34:40.240 --> 00:34:41.030 align:start position:0% not only be for the pr2 we knew that the pr2 00:34:41.030 --> 00:34:41.040 align:start position:0% pr2 00:34:41.040 --> 00:34:43.669 align:start position:0% pr2 was<00:34:41.280> going<00:34:41.440> to<00:34:41.520> be<00:34:41.679> a<00:34:42.159> a<00:34:42.560> really<00:34:42.800> great<00:34:43.040> robot 00:34:43.669 --> 00:34:43.679 align:start position:0% was going to be a a really great robot 00:34:43.679 --> 00:34:44.629 align:start position:0% was going to be a a really great robot but<00:34:43.839> it<00:34:44.000> was<00:34:44.240> not 00:34:44.629 --> 00:34:44.639 align:start position:0% but it was not 00:34:44.639 --> 00:34:46.950 align:start position:0% but it was not going<00:34:44.720> to<00:34:44.800> be<00:34:45.119> the<00:34:45.280> only<00:34:45.520> robot<00:34:45.919> in<00:34:46.000> the<00:34:46.079> world 00:34:46.950 --> 00:34:46.960 align:start position:0% going to be the only robot in the world 00:34:46.960 --> 00:34:47.669 align:start position:0% going to be the only robot in the world and 00:34:47.669 --> 00:34:47.679 align:start position:0% and 00:34:47.679 --> 00:34:49.030 align:start position:0% and probably<00:34:47.839> not<00:34:48.000> even<00:34:48.159> the<00:34:48.240> only<00:34:48.399> robot<00:34:48.720> that<00:34:48.879> we 00:34:49.030 --> 00:34:49.040 align:start position:0% probably not even the only robot that we 00:34:49.040 --> 00:34:51.430 align:start position:0% probably not even the only robot that we build<00:34:49.599> so<00:34:50.079> we<00:34:50.240> wanted<00:34:50.560> to<00:34:50.639> make<00:34:50.800> sure<00:34:51.119> that 00:34:51.430 --> 00:34:51.440 align:start position:0% build so we wanted to make sure that 00:34:51.440 --> 00:34:53.589 align:start position:0% build so we wanted to make sure that it<00:34:51.520> would<00:34:51.679> run<00:34:51.839> on<00:34:52.000> other<00:34:52.159> robots<00:34:52.720> our<00:34:53.200> mantra 00:34:53.589 --> 00:34:53.599 align:start position:0% it would run on other robots our mantra 00:34:53.599 --> 00:34:55.430 align:start position:0% it would run on other robots our mantra early<00:34:53.919> on<00:34:54.079> was<00:34:54.240> we<00:34:54.399> wanted<00:34:54.639> the<00:34:54.879> string 00:34:55.430 --> 00:34:55.440 align:start position:0% early on was we wanted the string 00:34:55.440 --> 00:34:58.150 align:start position:0% early on was we wanted the string pr2<00:34:56.240> to<00:34:56.399> appear<00:34:56.879> as<00:34:57.280> little<00:34:57.520> as<00:34:57.680> often<00:34:58.000> in<00:34:58.079> the 00:34:58.150 --> 00:34:58.160 align:start position:0% pr2 to appear as little as often in the 00:34:58.160 --> 00:34:59.109 align:start position:0% pr2 to appear as little as often in the code<00:34:58.400> base 00:34:59.109 --> 00:34:59.119 align:start position:0% code base 00:34:59.119 --> 00:35:01.190 align:start position:0% code base we<00:34:59.280> would<00:34:59.680> if<00:34:59.839> something<00:35:00.160> was<00:35:00.320> pr2<00:35:00.720> specific 00:35:01.190 --> 00:35:01.200 align:start position:0% we would if something was pr2 specific 00:35:01.200 --> 00:35:02.230 align:start position:0% we would if something was pr2 specific we'd<00:35:01.359> say<00:35:01.599> this<00:35:01.760> is<00:35:01.920> the 00:35:02.230 --> 00:35:02.240 align:start position:0% we'd say this is the 00:35:02.240 --> 00:35:04.390 align:start position:0% we'd say this is the pr2<00:35:02.960> thing<00:35:03.200> but<00:35:03.359> we<00:35:03.440> wanted<00:35:03.680> to<00:35:03.760> have<00:35:04.000> as<00:35:04.160> few 00:35:04.390 --> 00:35:04.400 align:start position:0% pr2 thing but we wanted to have as few 00:35:04.400 --> 00:35:05.829 align:start position:0% pr2 thing but we wanted to have as few of<00:35:04.480> those<00:35:04.640> things<00:35:04.960> as<00:35:05.040> we<00:35:05.200> could<00:35:05.359> we<00:35:05.520> wanted<00:35:05.760> to 00:35:05.829 --> 00:35:05.839 align:start position:0% of those things as we could we wanted to 00:35:05.839 --> 00:35:08.069 align:start position:0% of those things as we could we wanted to build<00:35:06.160> general<00:35:06.560> capabilities 00:35:08.069 --> 00:35:08.079 align:start position:0% build general capabilities 00:35:08.079 --> 00:35:10.310 align:start position:0% build general capabilities so<00:35:08.560> at<00:35:08.720> this<00:35:08.880> point<00:35:09.359> it<00:35:09.680> kind<00:35:09.839> of<00:35:09.920> depends<00:35:10.240> on 00:35:10.310 --> 00:35:10.320 align:start position:0% so at this point it kind of depends on 00:35:10.320 --> 00:35:11.829 align:start position:0% so at this point it kind of depends on how<00:35:10.480> you<00:35:10.640> count<00:35:10.880> it<00:35:11.040> but<00:35:11.200> pr 00:35:11.829 --> 00:35:11.839 align:start position:0% how you count it but pr 00:35:11.839 --> 00:35:16.069 align:start position:0% how you count it but pr ross<00:35:12.320> runs<00:35:12.800> on<00:35:13.599> dozens<00:35:14.160> of<00:35:14.320> different<00:35:14.640> robots 00:35:16.069 --> 00:35:16.079 align:start position:0% ross runs on dozens of different robots 00:35:16.079 --> 00:35:19.430 align:start position:0% ross runs on dozens of different robots dozens<00:35:16.480> of<00:35:16.640> different<00:35:18.240> kinds<00:35:18.560> of<00:35:18.960> robots<00:35:19.359> that 00:35:19.430 --> 00:35:19.440 align:start position:0% dozens of different kinds of robots that 00:35:19.440 --> 00:35:19.829 align:start position:0% dozens of different kinds of robots that are 00:35:19.829 --> 00:35:19.839 align:start position:0% are 00:35:19.839 --> 00:35:22.790 align:start position:0% are made<00:35:20.160> by<00:35:20.960> robot<00:35:21.280> manufacturers<00:35:21.920> but<00:35:22.240> also 00:35:22.790 --> 00:35:22.800 align:start position:0% made by robot manufacturers but also 00:35:22.800 --> 00:35:23.910 align:start position:0% made by robot manufacturers but also just<00:35:23.040> a 00:35:23.910 --> 00:35:23.920 align:start position:0% just a 00:35:23.920 --> 00:35:25.910 align:start position:0% just a wide<00:35:24.240> variety<00:35:24.640> of<00:35:24.720> one-off<00:35:25.119> robots<00:35:25.599> that 00:35:25.910 --> 00:35:25.920 align:start position:0% wide variety of one-off robots that 00:35:25.920 --> 00:35:27.109 align:start position:0% wide variety of one-off robots that hobbyists<00:35:26.720> and 00:35:27.109 --> 00:35:27.119 align:start position:0% hobbyists and 00:35:27.119 --> 00:35:29.829 align:start position:0% hobbyists and educators<00:35:27.760> and<00:35:28.000> academics<00:35:28.560> have<00:35:29.520> what<00:35:29.760> are 00:35:29.829 --> 00:35:29.839 align:start position:0% educators and academics have what are 00:35:29.839 --> 00:35:32.150 align:start position:0% educators and academics have what are some<00:35:30.079> of<00:35:30.160> the<00:35:30.240> crazier<00:35:30.720> ones<00:35:30.960> you've<00:35:31.200> seen 00:35:32.150 --> 00:35:32.160 align:start position:0% some of the crazier ones you've seen 00:35:32.160 --> 00:35:33.829 align:start position:0% some of the crazier ones you've seen well<00:35:32.400> i<00:35:32.480> mean<00:35:32.640> in<00:35:32.720> terms<00:35:32.960> of<00:35:33.040> unexpected<00:35:33.599> ones 00:35:33.829 --> 00:35:33.839 align:start position:0% well i mean in terms of unexpected ones 00:35:33.839 --> 00:35:35.670 align:start position:0% well i mean in terms of unexpected ones you<00:35:33.920> know<00:35:34.079> we<00:35:34.480> there's<00:35:34.720> the<00:35:34.880> pr2 00:35:35.670 --> 00:35:35.680 align:start position:0% you know we there's the pr2 00:35:35.680 --> 00:35:37.190 align:start position:0% you know we there's the pr2 and<00:35:35.760> then<00:35:35.920> there<00:35:36.079> are<00:35:36.160> robots<00:35:36.800> you<00:35:36.960> could<00:35:37.040> look 00:35:37.190 --> 00:35:37.200 align:start position:0% and then there are robots you could look 00:35:37.200 --> 00:35:39.030 align:start position:0% and then there are robots you could look at<00:35:37.280> robots<00:35:37.599> that<00:35:37.680> are<00:35:37.760> kind<00:35:38.000> of<00:35:38.079> like<00:35:38.320> the<00:35:38.400> pr2 00:35:39.030 --> 00:35:39.040 align:start position:0% at robots that are kind of like the pr2 00:35:39.040 --> 00:35:39.990 align:start position:0% at robots that are kind of like the pr2 like<00:35:39.280> we<00:35:39.520> we 00:35:39.990 --> 00:35:40.000 align:start position:0% like we we 00:35:40.000 --> 00:35:41.349 align:start position:0% like we we had<00:35:40.160> some<00:35:40.320> good<00:35:40.480> experience<00:35:40.880> collaborating 00:35:41.349 --> 00:35:41.359 align:start position:0% had some good experience collaborating 00:35:41.359 --> 00:35:43.349 align:start position:0% had some good experience collaborating with<00:35:41.520> folks<00:35:41.760> in<00:35:41.839> japan<00:35:42.240> to<00:35:42.400> get<00:35:42.880> ross 00:35:43.349 --> 00:35:43.359 align:start position:0% with folks in japan to get ross 00:35:43.359 --> 00:35:45.270 align:start position:0% with folks in japan to get ross the<00:35:43.520> ross<00:35:43.839> navigation<00:35:44.480> system<00:35:44.880> running<00:35:45.200> on 00:35:45.270 --> 00:35:45.280 align:start position:0% the ross navigation system running on 00:35:45.280 --> 00:35:46.470 align:start position:0% the ross navigation system running on the<00:35:45.440> hrp 00:35:46.470 --> 00:35:46.480 align:start position:0% the hrp 00:35:46.480 --> 00:35:49.910 align:start position:0% the hrp uh<00:35:47.040> hrp<00:35:49.119> four<00:35:49.440> yeah 00:35:49.910 --> 00:35:49.920 align:start position:0% uh hrp four yeah 00:35:49.920 --> 00:35:52.310 align:start position:0% uh hrp four yeah it<00:35:50.000> was<00:35:50.079> the<00:35:50.240> one<00:35:50.320> that<00:35:50.480> was<00:35:50.640> on<00:35:50.800> wheels<00:35:51.280> um 00:35:52.310 --> 00:35:52.320 align:start position:0% it was the one that was on wheels um 00:35:52.320 --> 00:35:53.589 align:start position:0% it was the one that was on wheels um they<00:35:52.480> had<00:35:52.640> a<00:35:52.720> version<00:35:52.960> that<00:35:53.040> was<00:35:53.200> on<00:35:53.359> wheels 00:35:53.589 --> 00:35:53.599 align:start position:0% they had a version that was on wheels 00:35:53.599 --> 00:35:55.190 align:start position:0% they had a version that was on wheels but<00:35:53.760> in<00:35:53.920> any<00:35:54.079> case<00:35:54.400> it<00:35:54.480> was 00:35:55.190 --> 00:35:55.200 align:start position:0% but in any case it was 00:35:55.200 --> 00:35:57.030 align:start position:0% but in any case it was you<00:35:55.280> know<00:35:55.440> that<00:35:55.680> robot<00:35:56.079> it's<00:35:56.240> kind<00:35:56.480> of<00:35:56.560> similar 00:35:57.030 --> 00:35:57.040 align:start position:0% you know that robot it's kind of similar 00:35:57.040 --> 00:35:58.870 align:start position:0% you know that robot it's kind of similar to<00:35:57.200> the<00:35:57.280> pr2<00:35:58.079> um 00:35:58.870 --> 00:35:58.880 align:start position:0% to the pr2 um 00:35:58.880 --> 00:36:00.630 align:start position:0% to the pr2 um there<00:35:59.119> the<00:35:59.280> carobot<00:35:59.839> from<00:36:00.000> fraunhofer<00:36:00.560> in 00:36:00.630 --> 00:36:00.640 align:start position:0% there the carobot from fraunhofer in 00:36:00.640 --> 00:36:02.710 align:start position:0% there the carobot from fraunhofer in germany<00:36:01.119> is<00:36:01.200> kind<00:36:01.440> of<00:36:01.520> like<00:36:01.680> the<00:36:01.839> pr2 00:36:02.710 --> 00:36:02.720 align:start position:0% germany is kind of like the pr2 00:36:02.720 --> 00:36:04.069 align:start position:0% germany is kind of like the pr2 and<00:36:02.800> they've<00:36:03.119> they've<00:36:03.280> done<00:36:03.440> a<00:36:03.599> great<00:36:03.760> job<00:36:04.000> of 00:36:04.069 --> 00:36:04.079 align:start position:0% and they've they've done a great job of 00:36:04.079 --> 00:36:06.230 align:start position:0% and they've they've done a great job of supporting<00:36:04.400> ross<00:36:04.720> on<00:36:04.800> that<00:36:04.960> platform 00:36:06.230 --> 00:36:06.240 align:start position:0% supporting ross on that platform 00:36:06.240 --> 00:36:07.750 align:start position:0% supporting ross on that platform and<00:36:06.320> then<00:36:06.480> from<00:36:06.640> there<00:36:06.880> you<00:36:06.960> can<00:36:07.119> go<00:36:07.200> to<00:36:07.520> to 00:36:07.750 --> 00:36:07.760 align:start position:0% and then from there you can go to to 00:36:07.760 --> 00:36:10.230 align:start position:0% and then from there you can go to to simpler<00:36:08.079> robots<00:36:08.560> like<00:36:08.800> the<00:36:09.200> pioneers 00:36:10.230 --> 00:36:10.240 align:start position:0% simpler robots like the pioneers 00:36:10.240 --> 00:36:12.790 align:start position:0% simpler robots like the pioneers of<00:36:10.400> the<00:36:10.480> world<00:36:11.760> but<00:36:12.000> then<00:36:12.160> there's<00:36:12.400> some<00:36:12.640> that 00:36:12.790 --> 00:36:12.800 align:start position:0% of the world but then there's some that 00:36:12.800 --> 00:36:14.470 align:start position:0% of the world but then there's some that we<00:36:12.880> just<00:36:13.040> didn't<00:36:13.200> think<00:36:13.359> of<00:36:13.520> at<00:36:13.680> all<00:36:13.920> like<00:36:14.160> quad 00:36:14.470 --> 00:36:14.480 align:start position:0% we just didn't think of at all like quad 00:36:14.480 --> 00:36:15.030 align:start position:0% we just didn't think of at all like quad rotors 00:36:15.030 --> 00:36:15.040 align:start position:0% rotors 00:36:15.040 --> 00:36:16.950 align:start position:0% rotors people<00:36:15.280> are<00:36:15.440> running<00:36:15.680> ross<00:36:16.079> both<00:36:16.400> on<00:36:16.640> board 00:36:16.950 --> 00:36:16.960 align:start position:0% people are running ross both on board 00:36:16.960 --> 00:36:18.310 align:start position:0% people are running ross both on board and<00:36:17.200> off<00:36:17.520> board<00:36:18.000> uh 00:36:18.310 --> 00:36:18.320 align:start position:0% and off board uh 00:36:18.320 --> 00:36:20.310 align:start position:0% and off board uh quad<00:36:18.640> rotors<00:36:19.119> running<00:36:19.440> ross<00:36:19.760> on<00:36:19.920> on<00:36:20.079> little 00:36:20.310 --> 00:36:20.320 align:start position:0% quad rotors running ross on on little 00:36:20.320 --> 00:36:23.030 align:start position:0% quad rotors running ross on on little tiny<00:36:20.640> embedded<00:36:20.960> computers 00:36:23.030 --> 00:36:23.040 align:start position:0% tiny embedded computers 00:36:23.040 --> 00:36:25.349 align:start position:0% tiny embedded computers there's<00:36:23.760> uh<00:36:24.160> there's<00:36:24.400> a<00:36:24.480> group<00:36:24.880> a<00:36:25.040> really 00:36:25.349 --> 00:36:25.359 align:start position:0% there's uh there's a group a really 00:36:25.359 --> 00:36:27.510 align:start position:0% there's uh there's a group a really active<00:36:25.680> group<00:36:25.920> at<00:36:26.079> eth<00:36:26.560> in<00:36:26.720> zurich<00:36:27.200> that<00:36:27.359> has 00:36:27.510 --> 00:36:27.520 align:start position:0% active group at eth in zurich that has 00:36:27.520 --> 00:36:28.630 align:start position:0% active group at eth in zurich that has run<00:36:27.680> ross<00:36:28.079> on<00:36:28.240> a 00:36:28.630 --> 00:36:28.640 align:start position:0% run ross on a 00:36:28.640 --> 00:36:32.310 align:start position:0% run ross on a wide<00:36:29.119> variety<00:36:29.440> of<00:36:29.599> things<00:36:29.920> from<00:36:31.599> these 00:36:32.310 --> 00:36:32.320 align:start position:0% wide variety of things from these 00:36:32.320 --> 00:36:34.150 align:start position:0% wide variety of things from these crazy<00:36:32.720> little<00:36:33.040> two-wheeled<00:36:33.440> robots<00:36:34.000> that 00:36:34.150 --> 00:36:34.160 align:start position:0% crazy little two-wheeled robots that 00:36:34.160 --> 00:36:35.510 align:start position:0% crazy little two-wheeled robots that have<00:36:34.400> magnetic<00:36:34.880> wheels 00:36:35.510 --> 00:36:35.520 align:start position:0% have magnetic wheels 00:36:35.520 --> 00:36:37.670 align:start position:0% have magnetic wheels and<00:36:35.920> are<00:36:36.079> used<00:36:36.320> to<00:36:36.400> drive<00:36:36.800> inside<00:36:37.200> pipes<00:36:37.520> to 00:36:37.670 --> 00:36:37.680 align:start position:0% and are used to drive inside pipes to 00:36:37.680 --> 00:36:39.589 align:start position:0% and are used to drive inside pipes to inspect<00:36:38.079> them 00:36:39.589 --> 00:36:39.599 align:start position:0% inspect them 00:36:39.599 --> 00:36:43.589 align:start position:0% inspect them to<00:36:39.920> uh<00:36:41.359> vehicles<00:36:41.920> that<00:36:42.480> to<00:36:42.720> boats<00:36:43.200> that<00:36:43.359> go<00:36:43.520> on 00:36:43.589 --> 00:36:43.599 align:start position:0% to uh vehicles that to boats that go on 00:36:43.599 --> 00:36:43.910 align:start position:0% to uh vehicles that to boats that go on the 00:36:43.910 --> 00:36:43.920 align:start position:0% the 00:36:43.920 --> 00:36:48.390 align:start position:0% the surfaces<00:36:44.400> of<00:36:44.560> lakes<00:36:46.079> there's<00:36:46.320> a<00:36:46.480> guy<00:36:46.720> who 00:36:48.390 --> 00:36:48.400 align:start position:0% surfaces of lakes there's a guy who 00:36:48.400 --> 00:36:51.109 align:start position:0% surfaces of lakes there's a guy who instrumented<00:36:48.960> his<00:36:49.040> surfboard<00:36:50.240> to<00:36:50.720> get 00:36:51.109 --> 00:36:51.119 align:start position:0% instrumented his surfboard to get 00:36:51.119 --> 00:36:51.910 align:start position:0% instrumented his surfboard to get acceleration 00:36:51.910 --> 00:36:51.920 align:start position:0% acceleration 00:36:51.920 --> 00:36:54.470 align:start position:0% acceleration information<00:36:52.720> and<00:36:53.119> used<00:36:53.359> ross<00:36:53.680> to<00:36:53.920> acquire<00:36:54.320> and 00:36:54.470 --> 00:36:54.480 align:start position:0% information and used ross to acquire and 00:36:54.480 --> 00:36:55.910 align:start position:0% information and used ross to acquire and then<00:36:54.640> plot<00:36:54.880> that<00:36:55.040> information<00:36:55.520> so<00:36:55.680> you<00:36:55.760> could 00:36:55.910 --> 00:36:55.920 align:start position:0% then plot that information so you could 00:36:55.920 --> 00:36:57.030 align:start position:0% then plot that information so you could see<00:36:56.240> you<00:36:56.400> know<00:36:56.640> how 00:36:57.030 --> 00:36:57.040 align:start position:0% see you know how 00:36:57.040 --> 00:36:59.030 align:start position:0% see you know how how<00:36:57.280> he<00:36:57.839> exactly<00:36:58.160> what<00:36:58.320> his<00:36:58.480> board<00:36:58.640> was<00:36:58.800> doing 00:36:59.030 --> 00:36:59.040 align:start position:0% how he exactly what his board was doing 00:36:59.040 --> 00:37:00.950 align:start position:0% how he exactly what his board was doing as<00:36:59.200> he<00:36:59.280> was<00:36:59.440> coming<00:36:59.599> down<00:36:59.760> the<00:36:59.839> wave 00:37:00.950 --> 00:37:00.960 align:start position:0% as he was coming down the wave 00:37:00.960 --> 00:37:02.950 align:start position:0% as he was coming down the wave so<00:37:01.359> certainly<00:37:01.680> some<00:37:01.920> areas<00:37:02.160> that<00:37:02.400> we<00:37:02.560> didn't 00:37:02.950 --> 00:37:02.960 align:start position:0% so certainly some areas that we didn't 00:37:02.960 --> 00:37:04.230 align:start position:0% so certainly some areas that we didn't we<00:37:03.119> didn't<00:37:03.280> plan<00:37:03.599> for 00:37:04.230 --> 00:37:04.240 align:start position:0% we didn't plan for 00:37:04.240 --> 00:37:05.589 align:start position:0% we didn't plan for and<00:37:04.320> that's<00:37:04.480> what's<00:37:04.720> really<00:37:04.880> exciting<00:37:05.280> now<00:37:05.520> i 00:37:05.589 --> 00:37:05.599 align:start position:0% and that's what's really exciting now i 00:37:05.599 --> 00:37:08.470 align:start position:0% and that's what's really exciting now i mean<00:37:06.400> early<00:37:06.720> on<00:37:06.960> we<00:37:07.119> were<00:37:07.280> really<00:37:07.599> counting 00:37:08.470 --> 00:37:08.480 align:start position:0% mean early on we were really counting 00:37:08.480 --> 00:37:09.910 align:start position:0% mean early on we were really counting users<00:37:08.880> you<00:37:08.960> know<00:37:09.119> how<00:37:09.280> many<00:37:09.440> people<00:37:09.680> are<00:37:09.839> on 00:37:09.910 --> 00:37:09.920 align:start position:0% users you know how many people are on 00:37:09.920 --> 00:37:12.630 align:start position:0% users you know how many people are on the<00:37:10.079> mailing<00:37:10.480> list<00:37:11.440> how<00:37:11.599> many<00:37:11.839> repositories 00:37:12.630 --> 00:37:12.640 align:start position:0% the mailing list how many repositories 00:37:12.640 --> 00:37:13.270 align:start position:0% the mailing list how many repositories are<00:37:12.800> out<00:37:12.960> there 00:37:13.270 --> 00:37:13.280 align:start position:0% are out there 00:37:13.280 --> 00:37:14.630 align:start position:0% are out there how<00:37:13.440> many<00:37:13.599> packages<00:37:14.079> have<00:37:14.160> been<00:37:14.320> written<00:37:14.560> and 00:37:14.630 --> 00:37:14.640 align:start position:0% how many packages have been written and 00:37:14.640 --> 00:37:15.990 align:start position:0% how many packages have been written and we<00:37:14.800> still<00:37:14.960> count<00:37:15.200> that<00:37:15.359> stuff<00:37:15.599> because<00:37:15.760> that's 00:37:15.990 --> 00:37:16.000 align:start position:0% we still count that stuff because that's 00:37:16.000 --> 00:37:17.829 align:start position:0% we still count that stuff because that's interesting<00:37:16.400> in<00:37:16.480> terms<00:37:16.720> of<00:37:16.800> measuring<00:37:17.200> impact 00:37:17.829 --> 00:37:17.839 align:start position:0% interesting in terms of measuring impact 00:37:17.839 --> 00:37:20.310 align:start position:0% interesting in terms of measuring impact but<00:37:18.079> now<00:37:19.440> more<00:37:19.599> than<00:37:19.760> that<00:37:19.920> we're<00:37:20.079> really 00:37:20.310 --> 00:37:20.320 align:start position:0% but now more than that we're really 00:37:20.320 --> 00:37:21.030 align:start position:0% but now more than that we're really looking<00:37:20.640> for 00:37:21.030 --> 00:37:21.040 align:start position:0% looking for 00:37:21.040 --> 00:37:23.430 align:start position:0% looking for different<00:37:21.680> kinds<00:37:22.079> of<00:37:22.240> users<00:37:22.720> different<00:37:23.119> kinds 00:37:23.430 --> 00:37:23.440 align:start position:0% different kinds of users different kinds 00:37:23.440 --> 00:37:24.470 align:start position:0% different kinds of users different kinds of<00:37:23.520> people<00:37:23.760> are 00:37:24.470 --> 00:37:24.480 align:start position:0% of people are 00:37:24.480 --> 00:37:26.710 align:start position:0% of people are is<00:37:24.720> it<00:37:25.040> you<00:37:25.200> know<00:37:25.359> is<00:37:25.680> are<00:37:25.839> we<00:37:25.920> now<00:37:26.160> seeing<00:37:26.400> ross 00:37:26.710 --> 00:37:26.720 align:start position:0% is it you know is are we now seeing ross 00:37:26.720 --> 00:37:28.069 align:start position:0% is it you know is are we now seeing ross used<00:37:26.960> on<00:37:27.119> a<00:37:27.200> completely<00:37:27.520> different<00:37:27.760> kind<00:37:28.000> of 00:37:28.069 --> 00:37:28.079 align:start position:0% used on a completely different kind of 00:37:28.079 --> 00:37:28.550 align:start position:0% used on a completely different kind of robot 00:37:28.550 --> 00:37:28.560 align:start position:0% robot 00:37:28.560 --> 00:37:30.310 align:start position:0% robot are<00:37:28.720> we<00:37:28.880> seeing<00:37:29.119> ross<00:37:29.440> used<00:37:29.760> in<00:37:29.839> a<00:37:30.079> in<00:37:30.240> a 00:37:30.310 --> 00:37:30.320 align:start position:0% are we seeing ross used in a in a 00:37:30.320 --> 00:37:31.990 align:start position:0% are we seeing ross used in a in a commercial<00:37:30.720> context<00:37:31.440> in 00:37:31.990 --> 00:37:32.000 align:start position:0% commercial context in 00:37:32.000 --> 00:37:35.190 align:start position:0% commercial context in as<00:37:32.160> opposed<00:37:32.480> to<00:37:32.640> an<00:37:32.800> academic<00:37:33.200> context 00:37:35.190 --> 00:37:35.200 align:start position:0% as opposed to an academic context 00:37:35.200 --> 00:37:38.710 align:start position:0% as opposed to an academic context roughly<00:37:35.520> how<00:37:35.680> many<00:37:35.920> users<00:37:36.320> are<00:37:36.480> you<00:37:36.720> at<00:37:37.920> that 00:37:38.710 --> 00:37:38.720 align:start position:0% roughly how many users are you at that 00:37:38.720 --> 00:37:40.550 align:start position:0% roughly how many users are you at that counting<00:37:39.040> users<00:37:39.440> on<00:37:39.520> an<00:37:39.680> open<00:37:39.839> source<00:37:40.079> project 00:37:40.550 --> 00:37:40.560 align:start position:0% counting users on an open source project 00:37:40.560 --> 00:37:42.310 align:start position:0% counting users on an open source project is<00:37:40.720> hard<00:37:41.200> because<00:37:41.599> they<00:37:41.760> don't<00:37:41.920> have<00:37:42.079> to<00:37:42.160> tell 00:37:42.310 --> 00:37:42.320 align:start position:0% is hard because they don't have to tell 00:37:42.320 --> 00:37:43.349 align:start position:0% is hard because they don't have to tell us<00:37:42.400> that<00:37:42.560> they're<00:37:42.720> using<00:37:42.960> it 00:37:43.349 --> 00:37:43.359 align:start position:0% us that they're using it 00:37:43.359 --> 00:37:46.790 align:start position:0% us that they're using it um<00:37:44.320> we<00:37:45.280> so<00:37:45.440> we<00:37:46.000> we<00:37:46.240> try<00:37:46.400> to 00:37:46.790 --> 00:37:46.800 align:start position:0% um we so we we try to 00:37:46.800 --> 00:37:48.870 align:start position:0% um we so we we try to have<00:37:47.040> proxies<00:37:47.520> for<00:37:47.760> it<00:37:47.920> our<00:37:48.079> mailing<00:37:48.480> our<00:37:48.640> main 00:37:48.870 --> 00:37:48.880 align:start position:0% have proxies for it our mailing our main 00:37:48.880 --> 00:37:50.630 align:start position:0% have proxies for it our mailing our main mailing<00:37:49.280> list<00:37:49.520> has 00:37:50.630 --> 00:37:50.640 align:start position:0% mailing list has 00:37:50.640 --> 00:37:53.670 align:start position:0% mailing list has about<00:37:50.960> a<00:37:51.200> thousand<00:37:51.680> users<00:37:52.079> on<00:37:52.240> it<00:37:52.640> um<00:37:53.280> so 00:37:53.670 --> 00:37:53.680 align:start position:0% about a thousand users on it um so 00:37:53.680 --> 00:37:55.510 align:start position:0% about a thousand users on it um so it's<00:37:53.839> at<00:37:53.920> least<00:37:54.160> that<00:37:54.320> many<00:37:54.640> but<00:37:55.280> in<00:37:55.359> my 00:37:55.510 --> 00:37:55.520 align:start position:0% it's at least that many but in my 00:37:55.520 --> 00:37:57.109 align:start position:0% it's at least that many but in my experience<00:37:56.000> most<00:37:56.240> users<00:37:56.560> won't<00:37:56.800> join<00:37:57.040> a 00:37:57.109 --> 00:37:57.119 align:start position:0% experience most users won't join a 00:37:57.119 --> 00:37:58.310 align:start position:0% experience most users won't join a mailing<00:37:57.440> list<00:37:57.760> they'll 00:37:58.310 --> 00:37:58.320 align:start position:0% mailing list they'll 00:37:58.320 --> 00:38:00.470 align:start position:0% mailing list they'll they<00:37:58.480> just<00:37:58.720> use<00:37:58.960> the<00:37:59.040> software<00:38:00.079> and<00:38:00.160> they<00:38:00.320> come 00:38:00.470 --> 00:38:00.480 align:start position:0% they just use the software and they come 00:38:00.480 --> 00:38:01.910 align:start position:0% they just use the software and they come in<00:38:00.560> through<00:38:00.720> other<00:38:00.880> gateways<00:38:01.359> to<00:38:01.599> talk<00:38:01.760> to 00:38:01.910 --> 00:38:01.920 align:start position:0% in through other gateways to talk to 00:38:01.920 --> 00:38:04.150 align:start position:0% in through other gateways to talk to people<00:38:02.160> at<00:38:02.240> different<00:38:02.560> forums<00:38:02.960> and<00:38:03.040> so<00:38:03.200> on 00:38:04.150 --> 00:38:04.160 align:start position:0% people at different forums and so on 00:38:04.160 --> 00:38:06.550 align:start position:0% people at different forums and so on one<00:38:04.400> proxy<00:38:04.800> that<00:38:04.960> we<00:38:05.119> use<00:38:05.520> is<00:38:05.760> how<00:38:05.920> many<00:38:06.160> unique 00:38:06.550 --> 00:38:06.560 align:start position:0% one proxy that we use is how many unique 00:38:06.560 --> 00:38:08.230 align:start position:0% one proxy that we use is how many unique visitors<00:38:06.880> hit<00:38:07.119> the<00:38:07.200> installation<00:38:07.760> page 00:38:08.230 --> 00:38:08.240 align:start position:0% visitors hit the installation page 00:38:08.240 --> 00:38:09.670 align:start position:0% visitors hit the installation page every<00:38:08.480> month<00:38:08.880> because<00:38:09.040> we<00:38:09.200> figure<00:38:09.440> if<00:38:09.520> they're 00:38:09.670 --> 00:38:09.680 align:start position:0% every month because we figure if they're 00:38:09.680 --> 00:38:10.950 align:start position:0% every month because we figure if they're reading<00:38:09.920> the<00:38:10.000> installation<00:38:10.400> instructions 00:38:10.950 --> 00:38:10.960 align:start position:0% reading the installation instructions 00:38:10.960 --> 00:38:11.670 align:start position:0% reading the installation instructions some 00:38:11.670 --> 00:38:11.680 align:start position:0% some 00:38:11.680 --> 00:38:12.630 align:start position:0% some some<00:38:11.839> of<00:38:11.920> them<00:38:12.079> are<00:38:12.160> going<00:38:12.320> away<00:38:12.560> and 00:38:12.630 --> 00:38:12.640 align:start position:0% some of them are going away and 00:38:12.640 --> 00:38:14.310 align:start position:0% some of them are going away and installing<00:38:13.119> it<00:38:13.200> and<00:38:13.280> that's<00:38:13.520> about<00:38:13.760> 10<00:38:14.000> 000<00:38:14.240> a 00:38:14.310 --> 00:38:14.320 align:start position:0% installing it and that's about 10 000 a 00:38:14.320 --> 00:38:15.589 align:start position:0% installing it and that's about 10 000 a month<00:38:14.640> right<00:38:14.800> now 00:38:15.589 --> 00:38:15.599 align:start position:0% month right now 00:38:15.599 --> 00:38:17.829 align:start position:0% month right now so<00:38:15.760> that's<00:38:16.160> that's<00:38:16.400> some<00:38:16.720> indication<00:38:17.280> of<00:38:17.680> how 00:38:17.829 --> 00:38:17.839 align:start position:0% so that's that's some indication of how 00:38:17.839 --> 00:38:19.270 align:start position:0% so that's that's some indication of how many<00:38:18.000> users<00:38:18.400> there<00:38:18.640> are 00:38:19.270 --> 00:38:19.280 align:start position:0% many users there are 00:38:19.280 --> 00:38:21.430 align:start position:0% many users there are we<00:38:19.440> see<00:38:19.680> peaks<00:38:20.560> at<00:38:20.640> certain<00:38:20.960> times<00:38:21.200> of<00:38:21.280> the 00:38:21.430 --> 00:38:21.440 align:start position:0% we see peaks at certain times of the 00:38:21.440 --> 00:38:22.950 align:start position:0% we see peaks at certain times of the year<00:38:22.160> people<00:38:22.400> are<00:38:22.480> starting 00:38:22.950 --> 00:38:22.960 align:start position:0% year people are starting 00:38:22.960 --> 00:38:24.390 align:start position:0% year people are starting they're<00:38:23.119> using<00:38:23.359> ross<00:38:23.680> in<00:38:23.760> classes<00:38:24.240> and 00:38:24.390 --> 00:38:24.400 align:start position:0% they're using ross in classes and 00:38:24.400 --> 00:38:26.310 align:start position:0% they're using ross in classes and universities<00:38:24.880> so<00:38:25.040> you<00:38:25.200> see<00:38:25.359> a<00:38:25.920> peak<00:38:26.160> of 00:38:26.310 --> 00:38:26.320 align:start position:0% universities so you see a peak of 00:38:26.320 --> 00:38:27.910 align:start position:0% universities so you see a peak of installations<00:38:26.960> around<00:38:27.359> the 00:38:27.910 --> 00:38:27.920 align:start position:0% installations around the 00:38:27.920 --> 00:38:31.109 align:start position:0% installations around the uh<00:38:29.839> so<00:38:30.000> you<00:38:30.480> see<00:38:30.640> a 00:38:31.109 --> 00:38:31.119 align:start position:0% uh so you see a 00:38:31.119 --> 00:38:32.790 align:start position:0% uh so you see a you<00:38:31.280> see<00:38:31.440> a<00:38:31.520> peak<00:38:31.760> of<00:38:31.839> installations<00:38:32.400> around 00:38:32.790 --> 00:38:32.800 align:start position:0% you see a peak of installations around 00:38:32.800 --> 00:38:34.950 align:start position:0% you see a peak of installations around the<00:38:33.200> uh<00:38:33.760> beginning<00:38:34.079> of<00:38:34.160> the<00:38:34.240> academic<00:38:34.640> year 00:38:34.950 --> 00:38:34.960 align:start position:0% the uh beginning of the academic year 00:38:34.960 --> 00:38:36.069 align:start position:0% the uh beginning of the academic year for<00:38:35.119> example 00:38:36.069 --> 00:38:36.079 align:start position:0% for example 00:38:36.079 --> 00:38:38.710 align:start position:0% for example um<00:38:36.720> it<00:38:37.040> i<00:38:37.119> would<00:38:37.280> guess<00:38:37.599> it's<00:38:37.920> it's<00:38:38.240> tens<00:38:38.560> of 00:38:38.710 --> 00:38:38.720 align:start position:0% um it i would guess it's it's tens of 00:38:38.720 --> 00:38:39.589 align:start position:0% um it i would guess it's it's tens of thousands 00:38:39.589 --> 00:38:39.599 align:start position:0% thousands 00:38:39.599 --> 00:38:42.630 align:start position:0% thousands um<00:38:41.119> maybe<00:38:41.440> hundreds<00:38:41.839> of<00:38:41.920> thousands<00:38:42.320> it's<00:38:42.480> hard 00:38:42.630 --> 00:38:42.640 align:start position:0% um maybe hundreds of thousands it's hard 00:38:42.640 --> 00:38:43.510 align:start position:0% um maybe hundreds of thousands it's hard to<00:38:42.800> say 00:38:43.510 --> 00:38:43.520 align:start position:0% to say 00:38:43.520 --> 00:38:45.829 align:start position:0% to say so<00:38:43.680> what's<00:38:44.000> the<00:38:44.160> next<00:38:44.560> evolution<00:38:45.119> of<00:38:45.280> ross<00:38:45.680> and 00:38:45.829 --> 00:38:45.839 align:start position:0% so what's the next evolution of ross and 00:38:45.839 --> 00:38:49.109 align:start position:0% so what's the next evolution of ross and the<00:38:46.400> challenges<00:38:46.880> you<00:38:47.119> face 00:38:49.109 --> 00:38:49.119 align:start position:0% the challenges you face 00:38:49.119 --> 00:38:52.150 align:start position:0% the challenges you face so<00:38:49.680> um<00:38:50.320> where<00:38:50.560> sc<00:38:50.880> ross<00:38:51.359> going<00:38:51.680> next 00:38:52.150 --> 00:38:52.160 align:start position:0% so um where sc ross going next 00:38:52.160 --> 00:38:55.510 align:start position:0% so um where sc ross going next is<00:38:52.560> getting<00:38:52.800> ross<00:38:53.280> on<00:38:53.520> to<00:38:54.240> more<00:38:55.040> competing 00:38:55.510 --> 00:38:55.520 align:start position:0% is getting ross on to more competing 00:38:55.520 --> 00:38:56.310 align:start position:0% is getting ross on to more competing platforms 00:38:56.310 --> 00:38:56.320 align:start position:0% platforms 00:38:56.320 --> 00:38:59.109 align:start position:0% platforms so<00:38:56.560> we<00:38:56.800> started<00:38:57.200> off<00:38:58.000> really<00:38:58.240> targeting<00:38:58.640> linux 00:38:59.109 --> 00:38:59.119 align:start position:0% so we started off really targeting linux 00:38:59.119 --> 00:39:00.470 align:start position:0% so we started off really targeting linux and<00:38:59.200> that's<00:38:59.440> still<00:38:59.599> where<00:38:59.839> we<00:38:59.920> put<00:39:00.079> most<00:39:00.320> of 00:39:00.470 --> 00:39:00.480 align:start position:0% and that's still where we put most of 00:39:00.480 --> 00:39:01.030 align:start position:0% and that's still where we put most of our<00:39:00.640> effort 00:39:01.030 --> 00:39:01.040 align:start position:0% our effort 00:39:01.040 --> 00:39:04.950 align:start position:0% our effort and<00:39:01.920> um<00:39:04.000> mac<00:39:04.160> os<00:39:04.480> 10 00:39:04.950 --> 00:39:04.960 align:start position:0% and um mac os 10 00:39:04.960 --> 00:39:07.349 align:start position:0% and um mac os 10 uh<00:39:05.440> is<00:39:05.760> also<00:39:05.920> a<00:39:06.000> good<00:39:06.160> platform<00:39:06.560> to<00:39:06.720> support<00:39:07.119> we 00:39:07.349 --> 00:39:07.359 align:start position:0% uh is also a good platform to support we 00:39:07.359 --> 00:39:09.109 align:start position:0% uh is also a good platform to support we we're<00:39:07.839> partially<00:39:08.320> supported<00:39:08.640> there<00:39:08.880> right 00:39:09.109 --> 00:39:09.119 align:start position:0% we're partially supported there right 00:39:09.119 --> 00:39:09.750 align:start position:0% we're partially supported there right now 00:39:09.750 --> 00:39:09.760 align:start position:0% now 00:39:09.760 --> 00:39:12.230 align:start position:0% now but<00:39:10.000> the<00:39:10.240> real<00:39:10.720> prize<00:39:11.119> will<00:39:11.280> be<00:39:11.520> windows<00:39:12.160> i 00:39:12.230 --> 00:39:12.240 align:start position:0% but the real prize will be windows i 00:39:12.240 --> 00:39:13.190 align:start position:0% but the real prize will be windows i mean<00:39:12.400> that<00:39:12.640> if 00:39:13.190 --> 00:39:13.200 align:start position:0% mean that if 00:39:13.200 --> 00:39:16.150 align:start position:0% mean that if so<00:39:14.400> in<00:39:14.640> in<00:39:14.720> terms<00:39:14.960> of<00:39:15.040> getting<00:39:15.440> a<00:39:15.599> lot<00:39:15.920> more 00:39:16.150 --> 00:39:16.160 align:start position:0% so in in terms of getting a lot more 00:39:16.160 --> 00:39:17.670 align:start position:0% so in in terms of getting a lot more developers<00:39:16.880> involved 00:39:17.670 --> 00:39:17.680 align:start position:0% developers involved 00:39:17.680 --> 00:39:19.030 align:start position:0% developers involved having<00:39:17.920> good<00:39:18.079> windows<00:39:18.400> support<00:39:18.720> i<00:39:18.800> think<00:39:18.960> will 00:39:19.030 --> 00:39:19.040 align:start position:0% having good windows support i think will 00:39:19.040 --> 00:39:20.310 align:start position:0% having good windows support i think will be<00:39:19.200> important<00:39:19.680> and<00:39:19.760> that's<00:39:20.000> something<00:39:20.240> that 00:39:20.310 --> 00:39:20.320 align:start position:0% be important and that's something that 00:39:20.320 --> 00:39:21.190 align:start position:0% be important and that's something that we're<00:39:20.480> making 00:39:21.190 --> 00:39:21.200 align:start position:0% we're making 00:39:21.200 --> 00:39:24.790 align:start position:0% we're making steps<00:39:21.599> toward<00:39:21.920> right<00:39:22.160> now<00:39:22.720> um<00:39:23.280> and 00:39:24.790 --> 00:39:24.800 align:start position:0% steps toward right now um and 00:39:24.800 --> 00:39:27.030 align:start position:0% steps toward right now um and once<00:39:25.119> we<00:39:25.280> have<00:39:25.920> or<00:39:26.160> or<00:39:26.480> the<00:39:26.640> reason<00:39:26.880> that<00:39:26.960> we 00:39:27.030 --> 00:39:27.040 align:start position:0% once we have or or the reason that we 00:39:27.040 --> 00:39:29.030 align:start position:0% once we have or or the reason that we would<00:39:27.280> do<00:39:27.440> that<00:39:27.839> is<00:39:28.000> that 00:39:29.030 --> 00:39:29.040 align:start position:0% would do that is that 00:39:29.040 --> 00:39:31.190 align:start position:0% would do that is that what<00:39:29.280> i'd<00:39:29.359> like<00:39:29.599> to<00:39:29.680> see<00:39:29.839> happen<00:39:30.240> is<00:39:30.640> to<00:39:30.880> get 00:39:31.190 --> 00:39:31.200 align:start position:0% what i'd like to see happen is to get 00:39:31.200 --> 00:39:32.310 align:start position:0% what i'd like to see happen is to get people<00:39:31.520> who<00:39:31.920> are 00:39:32.310 --> 00:39:32.320 align:start position:0% people who are 00:39:32.320 --> 00:39:34.230 align:start position:0% people who are who<00:39:32.560> don't<00:39:32.720> have<00:39:32.880> robotics<00:39:33.440> backgrounds 00:39:34.230 --> 00:39:34.240 align:start position:0% who don't have robotics backgrounds 00:39:34.240 --> 00:39:35.510 align:start position:0% who don't have robotics backgrounds using<00:39:34.560> ross 00:39:35.510 --> 00:39:35.520 align:start position:0% using ross 00:39:35.520 --> 00:39:38.630 align:start position:0% using ross so<00:39:35.760> right<00:39:36.000> now<00:39:36.640> um<00:39:37.440> people<00:39:37.680> who<00:39:38.000> have<00:39:38.160> robotics 00:39:38.630 --> 00:39:38.640 align:start position:0% so right now um people who have robotics 00:39:38.640 --> 00:39:40.829 align:start position:0% so right now um people who have robotics backgrounds<00:39:39.119> or<00:39:39.359> are<00:39:39.520> very<00:39:39.839> interested<00:39:40.240> in 00:39:40.829 --> 00:39:40.839 align:start position:0% backgrounds or are very interested in 00:39:40.839 --> 00:39:42.950 align:start position:0% backgrounds or are very interested in robotics<00:39:42.000> don't<00:39:42.160> have<00:39:42.320> any<00:39:42.480> problem<00:39:42.720> picking 00:39:42.950 --> 00:39:42.960 align:start position:0% robotics don't have any problem picking 00:39:42.960 --> 00:39:44.710 align:start position:0% robotics don't have any problem picking up<00:39:43.040> ross<00:39:43.359> and<00:39:43.680> it's<00:39:43.920> it's<00:39:44.079> great<00:39:44.320> for<00:39:44.400> them<00:39:44.640> and 00:39:44.710 --> 00:39:44.720 align:start position:0% up ross and it's it's great for them and 00:39:44.720 --> 00:39:45.910 align:start position:0% up ross and it's it's great for them and i<00:39:44.800> think<00:39:44.880> we're<00:39:45.040> doing<00:39:45.200> a<00:39:45.280> good<00:39:45.520> job 00:39:45.910 --> 00:39:45.920 align:start position:0% i think we're doing a good job 00:39:45.920 --> 00:39:49.349 align:start position:0% i think we're doing a good job as<00:39:46.079> a<00:39:46.160> community<00:39:46.720> of<00:39:46.880> satisfying<00:39:47.760> that<00:39:48.079> need 00:39:49.349 --> 00:39:49.359 align:start position:0% as a community of satisfying that need 00:39:49.359 --> 00:39:51.190 align:start position:0% as a community of satisfying that need but<00:39:49.599> what<00:39:49.760> will<00:39:50.000> be<00:39:50.160> really<00:39:50.480> different<00:39:50.960> is 00:39:51.190 --> 00:39:51.200 align:start position:0% but what will be really different is 00:39:51.200 --> 00:39:52.470 align:start position:0% but what will be really different is when<00:39:51.760> people<00:39:52.079> who 00:39:52.470 --> 00:39:52.480 align:start position:0% when people who 00:39:52.480 --> 00:39:54.310 align:start position:0% when people who have<00:39:52.800> good<00:39:53.040> software<00:39:53.440> engineering<00:39:53.920> skills 00:39:54.310 --> 00:39:54.320 align:start position:0% have good software engineering skills 00:39:54.320 --> 00:39:55.829 align:start position:0% have good software engineering skills and<00:39:54.400> have<00:39:54.640> creative<00:39:54.960> ideas<00:39:55.280> for<00:39:55.359> what<00:39:55.520> you 00:39:55.829 --> 00:39:55.839 align:start position:0% and have creative ideas for what you 00:39:55.839 --> 00:39:57.270 align:start position:0% and have creative ideas for what you might<00:39:56.079> do<00:39:56.240> with<00:39:56.400> a<00:39:56.480> robot 00:39:57.270 --> 00:39:57.280 align:start position:0% might do with a robot 00:39:57.280 --> 00:39:59.510 align:start position:0% might do with a robot but<00:39:57.520> don't<00:39:57.680> have<00:39:57.839> a<00:39:57.839> robotics<00:39:58.320> background<00:39:59.280> can 00:39:59.510 --> 00:39:59.520 align:start position:0% but don't have a robotics background can 00:39:59.520 --> 00:40:01.190 align:start position:0% but don't have a robotics background can come<00:39:59.760> in<00:39:59.839> and<00:40:00.000> start<00:40:00.160> using<00:40:00.480> ross<00:40:00.800> to<00:40:00.960> start 00:40:01.190 --> 00:40:01.200 align:start position:0% come in and start using ross to start 00:40:01.200 --> 00:40:03.030 align:start position:0% come in and start using ross to start prototyping<00:40:01.839> their<00:40:02.000> ideas<00:40:02.480> for<00:40:02.640> what 00:40:03.030 --> 00:40:03.040 align:start position:0% prototyping their ideas for what 00:40:03.040 --> 00:40:05.990 align:start position:0% prototyping their ideas for what a<00:40:03.200> robot<00:40:03.599> might<00:40:03.839> do<00:40:04.720> and<00:40:04.800> that's<00:40:05.440> so<00:40:05.599> there 00:40:05.990 --> 00:40:06.000 align:start position:0% a robot might do and that's so there 00:40:06.000 --> 00:40:06.790 align:start position:0% a robot might do and that's so there there's<00:40:06.319> some 00:40:06.790 --> 00:40:06.800 align:start position:0% there's some 00:40:06.800 --> 00:40:08.950 align:start position:0% there's some work<00:40:07.040> for<00:40:07.200> us<00:40:07.359> as<00:40:07.440> a<00:40:07.520> community<00:40:07.920> to<00:40:08.000> do<00:40:08.160> to<00:40:08.319> make 00:40:08.950 --> 00:40:08.960 align:start position:0% work for us as a community to do to make 00:40:08.960 --> 00:40:09.990 align:start position:0% work for us as a community to do to make that<00:40:09.280> to<00:40:09.440> make<00:40:09.599> ross 00:40:09.990 --> 00:40:10.000 align:start position:0% that to make ross 00:40:10.000 --> 00:40:11.829 align:start position:0% that to make ross more<00:40:10.160> accessible<00:40:10.800> to<00:40:10.960> people<00:40:11.200> who<00:40:11.359> are<00:40:11.520> coming 00:40:11.829 --> 00:40:11.839 align:start position:0% more accessible to people who are coming 00:40:11.839 --> 00:40:13.430 align:start position:0% more accessible to people who are coming in<00:40:12.319> they<00:40:12.560> they<00:40:12.720> didn't<00:40:12.880> go<00:40:13.040> through<00:40:13.280> grad 00:40:13.430 --> 00:40:13.440 align:start position:0% in they they didn't go through grad 00:40:13.440 --> 00:40:14.870 align:start position:0% in they they didn't go through grad school<00:40:13.599> and<00:40:13.680> robotics<00:40:14.160> program<00:40:14.480> they're<00:40:14.640> not 00:40:14.870 --> 00:40:14.880 align:start position:0% school and robotics program they're not 00:40:14.880 --> 00:40:16.710 align:start position:0% school and robotics program they're not experts<00:40:15.280> in<00:40:15.359> computer<00:40:15.839> vision 00:40:16.710 --> 00:40:16.720 align:start position:0% experts in computer vision 00:40:16.720 --> 00:40:18.230 align:start position:0% experts in computer vision but<00:40:16.960> we<00:40:17.119> still<00:40:17.280> want<00:40:17.440> to<00:40:17.599> what<00:40:17.760> we<00:40:17.839> want<00:40:18.000> to<00:40:18.079> do 00:40:18.230 --> 00:40:18.240 align:start position:0% but we still want to what we want to do 00:40:18.240 --> 00:40:20.390 align:start position:0% but we still want to what we want to do is<00:40:18.400> provide<00:40:18.640> a<00:40:18.720> toolbox<00:40:19.280> that<00:40:19.680> lets<00:40:19.920> them<00:40:20.240> put 00:40:20.390 --> 00:40:20.400 align:start position:0% is provide a toolbox that lets them put 00:40:20.400 --> 00:40:22.230 align:start position:0% is provide a toolbox that lets them put the<00:40:20.560> pieces<00:40:20.880> together<00:40:21.359> to 00:40:22.230 --> 00:40:22.240 align:start position:0% the pieces together to 00:40:22.240 --> 00:40:23.670 align:start position:0% the pieces together to try<00:40:22.480> out<00:40:22.640> their<00:40:22.800> crazy<00:40:23.119> idea<00:40:23.359> for<00:40:23.440> what<00:40:23.599> a 00:40:23.670 --> 00:40:23.680 align:start position:0% try out their crazy idea for what a 00:40:23.680 --> 00:40:26.710 align:start position:0% try out their crazy idea for what a robot<00:40:23.920> might<00:40:24.079> be<00:40:24.240> useful<00:40:24.560> for 00:40:26.710 --> 00:40:26.720 align:start position:0% robot might be useful for 00:40:26.720 --> 00:40:28.550 align:start position:0% robot might be useful for right<00:40:27.040> and<00:40:27.119> now<00:40:27.599> we<00:40:27.760> always<00:40:28.000> wind<00:40:28.319> up<00:40:28.400> with 00:40:28.550 --> 00:40:28.560 align:start position:0% right and now we always wind up with 00:40:28.560 --> 00:40:30.230 align:start position:0% right and now we always wind up with this<00:40:28.800> question<00:40:29.200> so<00:40:29.440> for<00:40:29.680> young<00:40:29.920> people 00:40:30.230 --> 00:40:30.240 align:start position:0% this question so for young people 00:40:30.240 --> 00:40:32.230 align:start position:0% this question so for young people interested<00:40:30.720> in<00:40:30.880> a<00:40:30.960> career<00:40:31.280> in<00:40:31.440> robotics<00:40:32.079> what 00:40:32.230 --> 00:40:32.240 align:start position:0% interested in a career in robotics what 00:40:32.240 --> 00:40:35.670 align:start position:0% interested in a career in robotics what kind<00:40:32.400> of<00:40:32.480> advice<00:40:32.800> do<00:40:32.960> you<00:40:33.040> have<00:40:33.280> for<00:40:33.440> them 00:40:35.670 --> 00:40:35.680 align:start position:0% kind of advice do you have for them 00:40:35.680 --> 00:40:37.190 align:start position:0% kind of advice do you have for them for<00:40:35.839> a<00:40:35.920> young<00:40:36.160> person<00:40:36.480> who's<00:40:36.720> interested<00:40:37.119> in 00:40:37.190 --> 00:40:37.200 align:start position:0% for a young person who's interested in 00:40:37.200 --> 00:40:38.790 align:start position:0% for a young person who's interested in robotics<00:40:37.760> i'd<00:40:38.000> say<00:40:38.319> that 00:40:38.790 --> 00:40:38.800 align:start position:0% robotics i'd say that 00:40:38.800 --> 00:40:42.309 align:start position:0% robotics i'd say that um<00:40:40.400> first<00:40:40.640> of<00:40:40.800> all<00:40:41.280> you're<00:40:41.520> living<00:40:41.760> in<00:40:41.920> a<00:40:42.000> lucky 00:40:42.309 --> 00:40:42.319 align:start position:0% um first of all you're living in a lucky 00:40:42.319 --> 00:40:42.950 align:start position:0% um first of all you're living in a lucky time 00:40:42.950 --> 00:40:42.960 align:start position:0% time 00:40:42.960 --> 00:40:45.190 align:start position:0% time uh<00:40:43.839> you're<00:40:44.160> lucky<00:40:44.400> to<00:40:44.480> live<00:40:44.640> in<00:40:44.800> this<00:40:44.880> time<00:40:45.119> i 00:40:45.190 --> 00:40:45.200 align:start position:0% uh you're lucky to live in this time i 00:40:45.200 --> 00:40:46.630 align:start position:0% uh you're lucky to live in this time i should<00:40:45.359> say<00:40:45.680> i<00:40:45.760> think<00:40:46.000> things<00:40:46.240> are<00:40:46.400> really 00:40:46.630 --> 00:40:46.640 align:start position:0% should say i think things are really 00:40:46.640 --> 00:40:47.910 align:start position:0% should say i think things are really taking<00:40:47.040> off<00:40:47.200> right<00:40:47.359> now<00:40:47.599> like 00:40:47.910 --> 00:40:47.920 align:start position:0% taking off right now like 00:40:47.920 --> 00:40:50.150 align:start position:0% taking off right now like we've<00:40:48.160> been<00:40:48.319> hoping<00:40:48.720> that<00:40:48.880> they<00:40:49.040> would<00:40:49.920> for 00:40:50.150 --> 00:40:50.160 align:start position:0% we've been hoping that they would for 00:40:50.160 --> 00:40:52.470 align:start position:0% we've been hoping that they would for quite<00:40:50.400> a<00:40:50.480> while 00:40:52.470 --> 00:40:52.480 align:start position:0% quite a while 00:40:52.480 --> 00:40:55.750 align:start position:0% quite a while i<00:40:52.640> would<00:40:52.800> say<00:40:54.160> get<00:40:54.560> as<00:40:54.880> much 00:40:55.750 --> 00:40:55.760 align:start position:0% i would say get as much 00:40:55.760 --> 00:40:57.349 align:start position:0% i would say get as much computer<00:40:56.160> science<00:40:56.480> education<00:40:56.880> as<00:40:57.040> you<00:40:57.119> can 00:40:57.349 --> 00:40:57.359 align:start position:0% computer science education as you can 00:40:57.359 --> 00:40:59.270 align:start position:0% computer science education as you can get<00:40:57.520> as<00:40:57.599> much<00:40:57.839> math<00:40:58.079> education<00:40:58.640> as<00:40:58.720> you<00:40:58.880> can 00:40:59.270 --> 00:40:59.280 align:start position:0% get as much math education as you can 00:40:59.280 --> 00:41:01.510 align:start position:0% get as much math education as you can those<00:40:59.520> are<00:40:59.680> the<00:41:00.079> those<00:41:00.319> are<00:41:00.400> the<00:41:00.640> two<00:41:01.040> pieces 00:41:01.510 --> 00:41:01.520 align:start position:0% those are the those are the two pieces 00:41:01.520 --> 00:41:03.750 align:start position:0% those are the those are the two pieces on<00:41:01.920> which 00:41:03.750 --> 00:41:03.760 align:start position:0% on which 00:41:03.760 --> 00:41:06.309 align:start position:0% on which most<00:41:04.160> of<00:41:04.319> the<00:41:04.400> work<00:41:04.640> in<00:41:04.720> robotics<00:41:05.520> is<00:41:05.920> is<00:41:06.079> built 00:41:06.309 --> 00:41:06.319 align:start position:0% most of the work in robotics is is built 00:41:06.319 --> 00:41:07.750 align:start position:0% most of the work in robotics is is built these<00:41:06.560> days 00:41:07.750 --> 00:41:07.760 align:start position:0% these days 00:41:07.760 --> 00:41:09.430 align:start position:0% these days but<00:41:07.920> then<00:41:08.079> i'm<00:41:08.160> a<00:41:08.240> computer<00:41:08.560> scientist<00:41:08.960> so<00:41:09.280> i'm 00:41:09.430 --> 00:41:09.440 align:start position:0% but then i'm a computer scientist so i'm 00:41:09.440 --> 00:41:11.109 align:start position:0% but then i'm a computer scientist so i'm gonna<00:41:10.079> i'm<00:41:10.240> not<00:41:10.400> gonna<00:41:10.560> tell<00:41:10.720> you<00:41:10.880> to<00:41:10.960> go<00:41:11.040> get 00:41:11.109 --> 00:41:11.119 align:start position:0% gonna i'm not gonna tell you to go get 00:41:11.119 --> 00:41:12.710 align:start position:0% gonna i'm not gonna tell you to go get the<00:41:11.200> mechanical<00:41:11.760> engineering<00:41:12.240> expertise 00:41:12.710 --> 00:41:12.720 align:start position:0% the mechanical engineering expertise 00:41:12.720 --> 00:41:13.270 align:start position:0% the mechanical engineering expertise although<00:41:12.960> that 00:41:13.270 --> 00:41:13.280 align:start position:0% although that 00:41:13.280 --> 00:41:16.550 align:start position:0% although that would<00:41:13.440> clearly<00:41:13.760> be<00:41:13.920> useful<00:41:15.760> thank<00:41:16.000> you<00:41:16.240> great 00:41:16.550 --> 00:41:16.560 align:start position:0% would clearly be useful thank you great 00:41:16.560 --> 00:41:19.599 align:start position:0% would clearly be useful thank you great thank<00:41:16.720> you<00:41:16.960> all<00:41:17.119> right