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I think there should be at least one fairly general sensor-actuator pair adapted to an open environment rather than a closed event set. Like camera and mobility. Roomba has IR obstacle detection and mobility.
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Interesting that many near-robots control a contained environment (fridge, bread machine, rice cooker). And temperature, moisture are intensive property scalar measures where a point measure will characterize extensive state of a whole contained, well-mixed space.
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A real robot sees an unbounded containing environment in full 4d: 3 space plus time. Kitchen appliances are really 1.5 d in a bounded space they contain: time and a set of point measures like temperature. Roomba is 3d (2d plus time). Flatland robot.
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The robotics phase shift in factories is a good dividing line. Even high end CNC machines seem qualitatively different from general robotic manipulators. The philosophy of movement is more open-ended and general.
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Okay, software teams gel in part bc of deep empathy for each others work, since its ~1-2 stack layers deep. Can we make better abstractions / hide some of the complexity so teams can operate on one shared layer-of-stack?