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cbames89

302 karma · joined December 8, 2013

Co-Founder BotBuilt, we build homes with robots! Formerly RL and Robotics researcher at Duke University, and NASA.

website: www.cbames.com email: barrett@botbuilt.com

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cbames89··on Ask HN: Cheap places to live with a good intellectual atmosphere?
Some Boston University researchers have taken a recent look at structural racism across the US, and while that's not everything, it's at least a portion. They actually found that NC is one of the lesser structurally racist states.

Their analysis checks out with my memory of recent events, with IL, WI, VA, and MO ranking very highly racist.

City lab article expounds on it here and has a nice graphic: https://www.citylab.com/equity/2018/02/the-role-of-structura...

cbames89··on Ask HN: Cheap places to live with a good intellectual atmosphere?
I'd highly recommend the triangle area in North Carolina. In Raleigh, there are a large number of tech companies, RHE, Cisco, IBM, Unreal Engine, just to name a few. It has the second highest % of computer science PhDs, and it's home to NC State, Duke University, and UNC. It's also a cultural hotspot for Blues creativity. Many of the best contemporary blues artists are located here in the triangle. The cost of living is relatively low. The rent I paid for 3 months in Redwood City, would have paid my mortgage here for 14 months. The southern part of NC is an agricultural center and thus food is relatively inexpensive. We usually spend ~500 a month.

In addition, Durham, in particular, is a melting pot of Northerners and Southerners. This has lead to some wonderful conversations where regional and cultural expectations were questioned.

Lastly, there are several startups here that are actively recruiting the best people away from the groupthink and costs that are currently dominating the bay area.

cbames89··on Silicon Valley isn’t the gold mine it used to be
As a separate point, I've heard some complain that access to talent is more difficult for tech companies than access to capital. Raleigh-Durham has the second highest number of CS PhDs(1)

(1)https://www.citylab.com/life/2015/12/where-us-brainpower-ten...

cbames89··on Silicon Valley isn’t the gold mine it used to be
Aren't large impressive numbers exactly what we expect at the peak?
cbames89··on Ask HN: What was the one book that you read and it actually changed your life?
I'll second deep work by Cal Newport. I didn't realize just how distracted I was until attempting his methods.
cbames89··on Robot Operating System – A flexible framework for writing robot software
Woah, guess I lost track..
cbames89··on Robot Operating System – A flexible framework for writing robot software
NASA's Valkyrie, and Robonaut 2, in addition Fetch, and Baxter,a couple of industrial arms via ROS-i. I know that it's pretty horrid, but it's also the devil I know. This allows for rapid prototyping. In addition, the API hasn't changed much so I can walk away for months and come back and still use the robot. Several organizations support OSRF, but they're still just a couple of people. It's all open source so I've been able to document bugs and submit fixes. That being said, they're still robotics people doing a systems job, but I've failed so far in convincing systems people that robotics is the next mobile.
cbames89··on Autonomous Vehicle Disengagement Reports 2017
a process which favors looking good to the general public when there is no consequence of fudging the numbers.
cbames89··on Autonomous Vehicle Disengagement Reports 2017
Can anyone point me to article, or provide an argument, as to why we should trust these self-reported numbers?
cbames89··on Mathematician-M.D. claims to have solved the 110-year-old Lindelöf hypothesis
Can someone eli5 the lindelof hypothesis?
cbames89··on How Judea Pearl Became One of AI's Sharpest Critics
It's a way to take interventions, for example what would happen if we can cigarettes, and model it with observational data. The do-calculus is just a couple of rules which say when we can do this. It essentially boils down to a couple of substitution rules.
cbames89··on How to Pick a Career (That Actually Fits You)
Shouldn't it be a quintapus?
cbames89··on Why can't the IT industry deliver large, faultless projects quickly?
Is there a precedent in any field? Large, complex projects seem to inherently require delays due to the discovery of new facets of the project.
cbames89··on The psychology of Soylent and the prison of first-world food choices
Totally off topic: I haven't lived in Texas for years but still dream of Nobi's Bahn Mi.
cbames89··on Metallic Glass Gears for NASA Robots
There is atleast one animal that uses gears as part of their locomotion: http://www.npr.org/2013/09/13/219739500/living-gears-help-th...
cbames89··on Why Americans Get Conned Again and Again
They make the claim that Americans get ripped off more than other countries, but I didn't see any evidence suggesting it.
cbames89··on Artificial Intelligence Is Stuck
One way to label is by expectation. If the outcome is what you expected, then it gets one label. If it didn't it gets another label. Deepmind has had some success with this approach.
cbames89··on Deep Learning in Robotics: A Review of Recent Research
The hundreds of thousands of researchers number, is that just a guess? If it isn't I'd love to see the source.
cbames89··on This famous roboticist doesn’t think Elon Musk understands AI
Does anyone else find it telling that at the same time Musk called for regulation, Steve the security robot is raging across the internet? http://www.npr.org/sections/thetwo-way/2017/07/18/537905142/...
cbames89··on This famous roboticist doesn’t think Elon Musk understands AI
Why is super-human general AI inevitable?

Do you have references for this 2040 date? I'd love to see who's making this prediction.

cbames89··on Where machine learning meets rule-based systems
Sorry for the delay. Here's some early work from Pieter Abbeel where a helicopter does aerobatic manuevers better than the demonstrations it received: http://citeseerx.ist.psu.edu/viewdoc/download;jsessionid=EAE...
cbames89··on Overview of Inverse Kinematics
I'll make a plug for software I wrote based on sequential quadratic programming. It performs significantly better than inverse Jacobian methods in the presence of high-dof and joint limits. Here's a link to the software and paper: https://bitbucket.org/traclabs/trac_ik
cbames89··on Where machine learning meets rule-based systems
"Training it to mimic humans means it will always be worse than humans." This is not necessarily true, there is work in learning from demonstration where robots have exceed the "experts" reward. I'll post some papers later if you're interested.
cbames89··on Where machine learning meets rule-based systems
As part of my graduate work with George Konidaris we've been exploring the creation of symbols and operators with ML. The goal being symbolic planning for continuous systems, however I see similarities in our approach, and the goals of rule based systems.

There's a journal paper that's under development, but here's a conference paper that addresses some of George's early work: http://cs.brown.edu/people/gdk/pubs/sym-prob.pdf

cbames89··on Flow Is the Opiate of the Mediocre: Advice on Getting Better
I interpreted flow as something that happens, and that you can make a good environment for it to happen , but can't force. However, recently I've found as you've found that I can force it to occur in certain circumstances. Maybe that's what the OP is getting at
cbames89··on NSTFM Lab: Interactive Gravity Simulator
The black hole is a nice way to cover the limits of the Sim
cbames89··on Ask HN: What is your experience switching away from QWERTY keyboard?
I've been on Dvorak for ~ 3 years now. I kept a small log of typing tests for QWERTY and then for my dvorak adventure. Once performing the complete switch (which took about a month) there was no difference in typing errors or wpm ( I do about ~60). I've actually been able to switch inbetween QWERTY and Dvorak with relative ease, given about 5-10 mins to reacquaint myself with qwerty I get right back up to my old test scores. The main difference is qualitative for me, they feel very different while typing. QWERTY feels bunched up and tight, while Dvorak makes my hands feel more spread out.
cbames89··on Ask HN: Just got an innocent man out of prison. What now?
What'd he do in the military? He may be able to leverage those skills for immediate employment.
cbames89··on Custom Processor Speeds Up Robot Motion Planning
Here's the original paper: http://people.ee.duke.edu/~sorin/papers/rss16_chip.pdf

In short: collision detection checking across all of the edges in a PRM graph takes 99% of planning time and can be done compeletely independently.

cbames89··on Robotic Motion Planning in Real-Time
There certainly has been research into the application of GPUs to motion planning. However, the paper presented is faster, and results in power consumption, approximately 10% of the power consumption of the GPU for the same task.
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