RoboCup A Challenge Problem for Artificial Intelligence Michail G. Lagoudakis Intelligent Systems Laboratory Department of Electronic and Computer Engineering Technical University of Crete Chania, Greece Democritus Summer School 2010 July 2010, Athens, Greece RoboCup: A Challenge Problem for Artificial Intelligence Sunday 17 July 2050 Spain vs Robots Soccer City Stadium Summer School 2010 Michail G. Lagoudakis Page 2 RoboCup: A Challenge Problem for Artificial Intelligence Humans vs. Robots 2010 Summer School 2010 Michail G. Lagoudakis Page 3 RoboCup: A Challenge Problem for Artificial Intelligence Where do we stand today? RoboCup 2010 Humanoid KidSize League Final (Dribblers vs. Fumanoids) Summer School 2010 Michail G. Lagoudakis Page 4 RoboCup: A Challenge Problem for Artificial Intelligence Where do we stand today? RoboCup 2010 Humanoid TeenSize League Final (Nimbro vs. CIT Brains) Summer School 2010 Michail G. Lagoudakis Page 5 RoboCup: A Challenge Problem for Artificial Intelligence Talk Outline RoboCup The Aldebaran Nao Robot Standard Platform League Team Kouretes Kouretes Research Summer School 2010 Michail G. Lagoudakis Page 6 RoboCup Robot Champions! RoboCup: A Challenge Problem for Artificial Intelligence RoboCup RoboCup – international robotic soccer world cup – 1994: idea conceived by Hiroaki Kitano – today: RoboCup federation [ www.robocup.org ] Vision – “By the year 2050, to develop a team of fully autonomous humanoid robots that can win against the human world soccer champions ” – ambitious endeavor similar to sending a man to the moon – "One small step for a ROBOT, one giant leap for mankind." TM Extensions – RoboRescue: search and rescue missions – RoboCup Junior, RoboCup@home, RoboDance Summer School 2010 Michail G. Lagoudakis Page 8 RoboCup: A Challenge Problem for Artificial Intelligence RoboCup Divisions Summer School 2010 Michail G. Lagoudakis Page 9 RoboCup: A Challenge Problem for Artificial Intelligence RoboCup Soccer Leagues Simulation League – 11 vs. 11 independent software agents Small-Size Robot League – 5 vs. 5 small robots up to 18 cm in diameter Middle-Size Robot League – 4 vs. 4 robots up to 50 cm in diameter Standard Platform League – 3 vs. 3 Aldebaran Nao robots – Past: 5 vs. 5 Sony Aibo robots Humanoid Robot League – humanoid robots (kid-size, teen-size, adult) Summer School 2010 Michail G. Lagoudakis Page 10 RoboCup: A Challenge Problem for Artificial Intelligence Why? Landmark project – a project with a very ambitious goal – requires a series of technological breakthrough Examples – it took about 50 years … – … from the first flight of the Wright brothers … – … to the landing of the man on the moon – it took about 50 years … – … from the invention of the first digital computer … – … to win the human world champion in Chess Question – will robots be able to play soccer like Diego Forlan in 50 years? Summer School 2010 Michail G. Lagoudakis Page 11 RoboCup: A Challenge Problem for Artificial Intelligence More Questions Why humanoids? – the world is largely engineered for humans – humanoid robots can share the same environment … – … but, they first need to acquire the same skills! – huge social and industrial impact Why soccer? – everybody in the world knows the problem/task! – it integrates all areas of Artificial Intelligence Chess RoboCup – fully observable – partially observable – causal, static, discrete time – stochastic, dynamic, continuous time – single-agent, alternating – multi-agent, simultaneous Summer School 2010 Michail G. Lagoudakis Page 12 RoboCup: A Challenge Problem for Artificial Intelligence The Challenges of RoboCup What skills do I need to play soccer? – can I see clearly? [ machine vision ] – what do I see and where? [ object and event recognition ] – where am I right now? [ self-localization ] – what do I do next? [ decision making and planning ] – how can I help my teammates? [ multi-agent coordination ] – how can I move effectively? [ motion control ] – am I sure about what is going on? [ uncertainty ] – do I have to do everything? [ integrated solution ] – can I take my time? [ real-time system ] Applicability – autonomous teams of robots in dynamic environments – search and rescue, planetary exploration, surveillance, ... Summer School 2010 Michail G. Lagoudakis Page 13 RoboCup: A Challenge Problem for Artificial Intelligence RoboCup Workflow [Kitano and Asada, 1998] Summer School 2010 Michail G. Lagoudakis Page 14 RoboCup: A Challenge Problem for Artificial Intelligence RoboCup Participation Event Place Teams Countries RoboCup 2010 Singapore, Singapore 400 40 RoboCup 2009 Graz, Austria 350 39 RoboCup 2008 Suzhou, China 397 41 RoboCup 2007 Atlanta, USA 321 33 RoboCup 2006 Bremen, Germany 440 35 RoboCup 2005 Osaka, Japan 330 31 RoboCup 2004 Lisbon, Portugal 345 37 RoboCup 2003 Padua, Italy 238 35 RoboCup 2002 Fukuoka/Busan, Japan 188 29 RoboCup 2001 Seattle, USA 141 22 RoboCup 2000 Melbourne, Australia 110 19 RoboCup 1999 Stockholm, Sweden 85 23 RoboCup 1998 Paris, France 63 19 RoboCup 1997 Nagoya, Japan 38 11 Summer School 2010 Michail G. Lagoudakis Page 15 RoboCup: A Challenge Problem for Artificial Intelligence Local RoboCup Events Japan Open – since 1998 German Open – since 2001 US Open – since 2003 Med Open – since 2010 Other Opens – Iran, China, Brazilian, Latin American, Dutch, Spanish, ... Summer School 2010 Michail G. Lagoudakis Page 16 RoboCup: A Challenge Problem for Artificial Intelligence RoboCup Symposium Symposium – main forum for presenting and discussing scientific contributions – during or after the competition – invited talks – oral and poster presentations Proceedings – Springer LNAI series – Robot Soccer World Cup xxx e-Proceedings – team description papers Summer School 2010 Michail G. Lagoudakis Page 17 RoboCup: A Challenge Problem for Artificial Intelligence RoboCup and Industry Technology transfer – develop and test in RoboCup – apply to real-world problems From the fields of RoboCup … – middle-size league – Minho team from Portugal – omni-directional locomotion … to a commercial product – omni-directional wheelchair – SAR company, Portugal – great maneuverability Summer School 2010 Michail G. Lagoudakis Page 18 The Aldebaran Nao Robot Your humanoid companion! RoboCup: A Challenge Problem for Artificial Intelligence Hello! My name is Nao! Summer School 2010 Michail G. Lagoudakis Page 20 RoboCup: A Challenge Problem for Artificial Intelligence The Story of Nao Concept – low-cost robot for education, research, and entertainment – a replacement robot platform for the Sony Aibo robot Manufacturer – Aldebaran Robotics, Paris, France – small company with a team of 80 people – founder and CEO: Bruno Maisonnier Models – special limited edition for RoboCup (v.1, v.2, v.3, v.3+) – academics edition in the market since 2009 at ~10,000.-€ – full market release in 2010 at ~12,000.-€ Summer School 2010 Michail G. Lagoudakis Page 21 RoboCup: A Challenge Problem for Artificial Intelligence The Evolution of Nao AL-01/02/03 2005 AL-04 2006 AL-05.a 2007 AL-05.b 2007 RoboCup V2 2008 RoboCup V3 2009 RoboCup V3+ 2010 Summer School 2010 Michail G. Lagoudakis Page 22 RoboCup: A Challenge Problem for Artificial Intelligence Nao Parts Summer School 2010 Michail G. Lagoudakis Page 23 RoboCup: A Challenge Problem for Artificial Intelligence Nao Hardware Computer – x86 AMD Geode 500MHz processor – 256 MB SDRAM memory, 2 Gb Flash memory – Embedded Linux (32 bit x86 ELF) operating system – 802.11g wireless LAN and ethernet LAN – speech synthesizer Electronics – chest board for controlling devices (Arm9, 10 ms cycle) – USB and I2C links – 6-cell, Li-Ion, 21.6V battery Specifications – weight: 4.3 kg, height: 58 cm Summer School 2010 Michail G. Lagoudakis Page 24 RoboCup: A Challenge Problem for Artificial Intelligence Nao Sensors External – 2 color CCD cameras (640x480, 30 fps, 58°) – 4 ultrasonic sensors (0.15 m – 0.70 m) – pressure sensors (4 FSRs on each foot) – bumper sensors (1 on each foot) – auditory sensors (2 microphones) Proprioceptive – encoders on each joint (12 bit, 0.1 ο precision) – inertial unit (3 accelerometers, 2 gyroscopes) – battery level sensor Summer School 2010 Michail G. Lagoudakis Page 25 RoboCup: A Challenge Problem for Artificial Intelligence Nao Actuators Motion – head (2 degrees of freedom) – 2 arms (4 degrees of freedom) – 2 legs (5 degrees of freedom) – pelvis (1 degree of freedom) – a total of 21 degrees of freedom Light and Sound – light (RGB LEDs in the eyes, chest, feet) – light (10x2 Blue LEDs in the ears) – sound (2 speakers, 2W) Summer School 2010 Michail G. Lagoudakis Page 26 Standard Platform League Where software makes the difference! RoboCup: A Challenge Problem for Artificial Intelligence Standard Platform League Summer School 2010 Michail G. Lagoudakis Page 28 RoboCup: A Challenge Problem for Artificial Intelligence Standard Platform League Concept – all participating teams use the same robotic platform – robots with identical hardware (computer, sensors, actuators) – focus is placed exclusively on software development – promotes the development of effective algorithms Platforms – 1997-2008: Sony Aibo quadruped robots – 2008-today: Aldebaran Nao biped robots History – four-legged league (4LL) [www.tzi.de/legged] – standard platform league (SPL) [www.tzi.de/spl] Summer School 2010 Michail G. Lagoudakis Page 29 RoboCup: A Challenge Problem for Artificial Intelligence 4LL Moments German Open 2007: Impossibles (blue) vs. Kouretes (red) Summer School 2010 Michail G. Lagoudakis Page