/robowaifu/ - DIY Robot Wives

Advancing robotics to a point where anime catgrill meidos in tiny miniskirts are a reality.

The canary has FINALLY been updated. -robi

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He was no longer living a dull and mundane life, but one that was full of joy and adventure.


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Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents Robowaifu Technician 01/21/2022 (Fri) 15:35:19 No.15047 [Reply]
https://wenlong.page/language-planner/ https://github.com/huangwl18/language-planner Can world knowledge learned by large language models (LLMs) be used to act in interactive environments? In this paper, we investigate the possibility of grounding high-level tasks, expressed in natural language (e.g. "make breakfast"), to a chosen set of actionable steps (e.g. "open fridge"). While prior work focused on learning from explicit step-by-step examples of how to act, we surprisingly find that if pre-trained LMs are large enough and prompted appropriately, they can effectively decompose high-level tasks into low-level plans without any further training. However, the plans produced naively by LLMs often cannot map precisely to admissible actions. We propose a procedure that conditions on existing demonstrations and semantically translates the plans to admissible actions. Our evaluation in the recent VirtualHome environment shows that the resulting method substantially improves executability over the LLM baseline. The conducted human evaluation reveals a trade-off between executability and correctness but shows a promising sign towards extracting actionable knowledge from language models. I think it's worth a whole thread. If not, move it to the appropriate section.
Update in this topic, this time by DeepMind. https://www.youtube.com/watch?v=L9kA8nSJdYw Slowly, they realize what we all think about, yet only in virtual spaces.
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>>16197 >Human: show me how you polish the baluster >Robowaifu: say no more goshujin-sama There was a really interesting paper recently on context-aware language models that can do planning and achieve better than human performance on a flight-booking task, using a model the same size as GPT-2 small: https://sea-snell.github.io/CALM_LM_site/ It shows a lot of promise for using a Monte Carlo tree search for doing planning with language models, since it only takes 5 dialog generation attempts with the new method to outdo human performance without doing a tree search at all. Also a huge breakthrough in zero-shot multi-modal learning has been made that completely blows CLIP and SotA specialized models to pieces by using a simple to understand contrastive and captioning loss (CoCa) that can leverage existing models: https://arxiv.org/pdf/2205.01917.pdf This is going to be huge for embodied agents. It's a lot like the similarity measure used between sentence embeddings produced by the RoBERTa model in OP's paper to ensure the translated generated instructions are executable, except it does it between images and sentences. And there's another paper worth mentioning doing transfer learning from a language model trained on Wikipedia to an RL agent (on continuous control and games) that outperforms training from scratch: https://arxiv.org/pdf/2201.12122.pdf It seems we're headed towards a leap forward soon with goal-oriented embodied agents using language models.

Robot Vision General Robowaifu Technician 09/11/2019 (Wed) 01:13:09 No.97 [Reply] [Last]
Cameras, Lenses, Actuators, Control Systems

Unless you want to deck out you're waifubot in dark glasses and a white cane, learning about vision systems is a good idea. Please post resources here.

opencv.org/
https://archive.is/7dFuu

github.com/opencv/opencv
https://archive.is/PEFzq

www.robotshop.com/en/cameras-vision-sensors.html
https://archive.is/7ESmt
Edited last time by Chobitsu on 09/11/2019 (Wed) 01:14:45.
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It seems like CMOS is the default sensor for most CV applications due to cost. But seeing all these beautiful eye designs makes me consider carefully how those photons get processed into signal for the robowaifus. Cost aside, CCD as a technology seems better because the entire image is processed monolithically, as one crisp frame, instead of a huge array of individual pixel sensors, which I think causes noise which has to be dealt with in post image processing. CCD looks like its still the go-to for scientific instruments today. In astrophotography everyone drools over cameras with CCD, while CMOS is -ok- and fits most amateur needs, the pros use CCD. Astrophotography / scientific www.atik-cameras(dot)com/news/difference-between-ccd-cmos-sensors/ This article breaks it down pretty well from a strictly CV standpoint. www.adimec(dot)com/ccd-vs-cmos-image-sensors-in-machine-vision-cameras/
>>14751 That looks very cool Anon. I think you're right about CCDs being very good sensor tech. Certainly I think that if we can find ones that suit our specific mobile robowaifu design needs, then that would certainly be a great choice. Thanks for the post!
iLab Neuromorphic Vision C++ Toolkit The USC iLab is headed up by the PhD behind the Jevois cameras and systems. http://ilab.usc.edu/toolkit/
>(>>15997, ... loosely related)
>"Follow Me" eyes (crosslink): >>19037 - I somehow forgot that we had a dedicated thread for eyes.

Who wouldn't hug a kiwi. Robowaifu Technician 09/11/2019 (Wed) 01:58:04 No.104 [Reply] [Last]
Important good news for Kiwi! (>>14757) === Howdy, I'm planning on manufacturing and selling companion kiwi robot girls. Why kiwi girls? Robot arms are hard. What would you prefer to hug, a 1 m or 1.5 m robot? Blue and white or red and black? She'll be ultra light around 10 to 15 kg Max with self balancing functionality. Cost is dependent on size, 1000 for 1 m or 1500 for 1.5 m. I'm but one waifugineer, so I'm going to setup around one model to self produce. If things go well, costs can go down and more models can be made. Hopefully with arms someday. >=== -add news crosslink
Edited last time by Chobitsu on 12/23/2021 (Thu) 06:43:53.
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>>15374 Completion requires an end point. Perfection can be said to have no end as improvements can be made ad infinitum to fit various ideals. I want to restart again to inch closer to my perfect leg but, that's a potentially endless cycle. Focusing on getting something done is better. The knee functions nearly identically to Ascento's leg, just mass optimized and legally distinct. Not pictured is the use of rubber bands for gravity compensation as a lower cost alternative to Ascento's springs.
>>15414 What a cool design Kiwi, thanks.
>>15414 Isn't it a problem to have a sping, or even worse a rubber band, being loaded all the time if the joints are in a non-neutral position? I like the idea with the spring, not I'm thinking if I could use that as well, but maybe with a motor controlling the non-neutral position of the spring.
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>>15746 Your suspicion is understandable. Springs and rubber bands are meant to experience stressed states for prolonged time. It is true that some springs will suffer from fatigue under prolonged or extreme stress. All you need to do is ensure your design does not put too much strain on the elastic element. For us, rubber bands are easy to design around and are used frequentally in DIY RC cars and robotics. (Picrel is a lego RC car which uses rubber bands for power transmission and suspension, used for the sake of clarity, note that all rubber bands are in a constant state of stress.)
>>15748 That's kinda cool looking Kiwi. I think the wide variety of elastic bands broadly available, and their low-cost in general make them a natural fit for our goals here on /robowaifu/.

Elfdroid Sophie Dev Thread 2 Robowaifu Enthusiast 03/26/2021 (Fri) 19:51:19 No.9216 [Reply] [Last]
The end of an era...(>>14744) === The saga of the Elfdroid-pattern Robowaifu continues! Previous (1st) dev thread starts here >>4787 At the moment I am working to upgrade Sophie's eye mechanism with proper animatronics. I have confirmed that I'm able to build and program the original mechanism so that the eyes and eyelids move, but that was the easy part. Now I have to make this already 'compact' Nilheim Mechatronics design even more compact so that it can fit snugly inside of Sophie's head. One big problem I can see coming is building in clearance between her eyeballs, eyelids and eye sockets so that everything can move fully and smoothly. I already had to use Vaseline on the eyeballs of the first attempt because the tolerances were so small. If the eyelids are recessed too deep into her face, then she looks like a lizard-creature with a nictitating membrane. But if the eyelids are pushed too far forward then she just looks bug-eyed and ridiculous. There is a middle ground which still looks robotic and fairly inhuman, but not too bad (besides, a certain degree of inhuman is what I'm aiming for, hence I made her an elf). Links to file repositories below. http://www.mediafire.com/folder/nz5yjfckzzivz/Robowaifu_Resources

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Edited last time by Chobitsu on 12/23/2021 (Thu) 06:51:08.
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>>14971 Good ideas SophieDev, and yeah storing ideas here on the board for safekeeping is something most of us do, including myself.
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I now know how to use a multimeter and have confirmed that my buck-converter is correctly limiting voltage to the servos. Have thrown out a bunch of fried micro-servos that were a lost cause (kept a few parts for spares). Now, onto the more pressing subject: To Mr. Vladimir Putin, I appreciate your desk in the Kremlin is very well polished and shiny. In fact if I wasn't working on building a robot I would be polishing my desk and downgrading to Windows XP so my setup could be more like yours. However, at present you are causing me a problem. Because electricity prices in my country have doubled due to you ordering the gas pipelines closed, I can no longer 3D print large things because it's too expensive. Although, Mr.Putin, I realise it's not all your fault. You see, I told my government that they should've focused less on feminism, jigaboos and faggots and more on building nuclear power stations, but they wouldn't listen. So now all of our gas power plants are out of gas and all of our energy firms are going bust. So please could you kindly sort out your business with Ukraine so the rest of us can get on with building robots? Kind regards, SophieDev
>>15207 POTD TOP LOL <ywn a shiny desk full of XP in Soviet Russia. I'm glad you're sorting your servos/power systems. Hopefully the situation will improve before too long Anon. I'm sure you will figure things out as you go along. I pray for you SophieDev indeed for us all. Godspeed. >=== BTW Anon, your thread is nearly at the autosage bump limit. I'd suggest you begin #3 thread soon.
Edited last time by Chobitsu on 02/14/2022 (Mon) 03:04:20.
Thought I'd print something small and cheap but still useful: servo connector locks. Do you have keyless servo connectors that keep coming undone when your robot moves about? Slip some of these locks over the connection point and your robot's days of sudden-onset flaccid paralysis will be over! Obviously though, if your wires aren't long enough to accomodate your robot's range of movement and you have these servo connector locks on, then the servo wires are likely to yank out completely (or pull something off your robot) since the servo connectors can no longer slip out easily.
>>15211 That's great but BLDCs and ESCs mostly use other connectors. I only see these on the small servos. And in those cases they need to go into a breadboard for which I use the male to male breadboard cables. I'm mostly using XT-60 connectors and banana plugs, and try to get motors with the right connectors. These are very cheap on AliExpress. Make sure to get male and female and the right size, though. For plugs and the connectors. You only need one connector and the other side can use plugs. The connectors seem to be mostly yellow and the plugs without plastics golden (brass). On AliExpress they also have little screw terminals for cables, which are also very cheap and fit into a breadboard. Not sure about the name, DG-301 is written on the side and they're blue (others are green).

CNC Machine Thread Robowaifu Technician 05/12/2020 (Tue) 02:13:40 No.2991 [Reply] [Last]
Many of the parts needed to build our robowaifus will need to be custom made and they will need to be metal. For parts that have a high tolerance for imperfections a 3d printer can print a mold and then a small scale foundry can be used to cast the piece with metal (probably copper or aluminum). BUT there will be pieces that need a higher degree of precision (such as joints). For these pieces a CNC machine would be useful. CNC machines can widely range in size, price, and accuracy and I would like to find models suitable for our purposes. I know there are CNC machines available that can cut up to copper for under $300, but I don't know if that will be enough for our purposes. (https://www.sainsmart.com/products/sainsmart-genmitsu-cnc-router-pro-diy-kit?variant=15941458296905&currency=USD&utm_campaign=gs-2018-08-06&utm_source=google&utm_medium=smart_campaign) Some CNC machines can be used to engrave printed circuit boards and that may prove useful for our purposes as well. Are there any anons that know more about CNC machines? Anons looking to buy one ask your questions here.
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>>11374 e.g., the plans for my waifu involve a build comprised solely of plastic printed parts, mainly polycarbonate for structural support. This is fairly easy and inexpensive to build an amateur 3d printer for
>>11375 >comprised solely of plastic printed parts, mainly polycarbonate for structural support It requires a better printer than other materials. It's not lighter than aluminium in relation to strength and parts like gears would wear down over time. Maybe you can do without metal parts or only using standardized metal parts, but it clearly has advantages to be able to use custom made parts. >>11374 You didn't address the problem that plastics are weaker and wearing off, so it was an appropriate answer, and yeah it is obvious that at least using some (custom made) metal parts has advantages. Maybe more so for the higher quality versions. Not necessarily many custom made ones in every case.
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>>11410 >you may even be able to put some kind of metal plating for mechanical parts that interact That was one of ideas of using some custom made metal parts. Yes. >metals aren't very cost effective There are standardized parts, which are very cheap and companies that mill custom parts have been mentioned as a source in this this thread. >for the average user Some here want to build very cheap robowaifus, others might go for the more expensive version, which might be able to be build as a cheaper version with some drawbacks. >metal 3d printer That's only one option, there's milling, casting and ordering custom parts from companies. Also these printers might get cheaper at some point. >comparative stress-tests for materials CNC Kitchen on YouTube.
>>11417 What happened here? He deleted his posting I replied to?
Just going to drop this here. https://docs.v1engineering.com/mpcnc/intro/ https://github.com/V1EngineeringInc/MPCNC_Primo https://www.thingiverse.com/thing:790533 Tabletop CNC that is mostly manufacture on a 3d printer with the rails being relatively cheap conduit pipping. It is modular so you can slap on a router, plasma cutter or laser depending on what you are working with. Additionally the system can be customized to any size provided you can find belts long enough for it and are willing to tolerate some looseness and loss of accuracy. The creator has a lot of other interesting prints if you are interest in checking them out https://www.prusaprinters.org/social/47417-ryan-z/prints

Robowaifu references Anonymous 09/09/2019 (Mon) 00:09:49 No.1 [Reply] [Last]
My favorite robowaifu is Chii. I'd like to see yours.
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>>42 I came across this by accident, and I was terribly disappointed it didn't have any Latin (the language) in it.
>>15510 So, can you tell us what it's about Anon? I've never seen it outside of this thread tbh.
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>>15511 It's a cute doujin about a man and his pre-owned robowaifu that has emotional damage. You can read it here: https://manhwahentai.me/webtoon/latin/vol-1-chapter-1-latin/
>>15512 Thanks!
crosslink: >>18090

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/robowaifu/meta-4: Rugged Mountains on the Shore Robowaifu Technician 09/09/2021 (Thu) 22:39:33 No.12974 [Reply] [Last]
/meta & QTDDTOT Note: Latest version of /robowaifu/ JSON archives available is v220117 Jan 2022 https://files.catbox.moe/l5vl37.7z If you use Waifusearch, just extract this into your 'all_jsons' directory for the program, then quit (q) and restart. Note: Final version of BUMP available is v0.2g (>>14866) >--- Mini-FAQ >A few hand-picked posts on various topics -Why is keeping mass (weight) low so important? (>>4313)

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Edited last time by Chobitsu on 01/17/2022 (Mon) 09:22:09.
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>>15397 Thanks
>>15395 Sorry about that mistake.
New Thread New Thread New Thread >>15434 >>15434 >>15434 >>15434 >>15434 New Thread New Thread New Thread
>>13018 > (>>16395, >>16433 >Headpat Waifus -related) >=== -add original-use crosspost
Edited last time by Chobitsu on 05/24/2022 (Tue) 07:00:58.

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Open Simple Robot Maid (OSRM) Robowaifu Technician 07/11/2021 (Sun) 06:40:52 No.11446 [Reply] [Last]
Basic design for an open source low cost robowaifu maid. Currently attempting to make a maid that looks like Ilulu from Miss Kobayashi's Dragon Maid. Right now she's an RC car with two servo steering. Will share designs when they're a tad better. Ultimate goal is cute dragon maid waifu that rolls around and gently listens to you while holding things for you.
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>>13895 Thanks! Sorry for my recent absence. I'd like to continue work on this on the robowaifu.club until it can be determined what happened to the BO/Chobitsu or if this place is dead in the water.
>>14081 I'll make a new thread over there and all updates will be made over there until moderation returns.
>>14082 Posted the new thread
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This is exactly what I want. A beautiful dedicated maid filled with love and affection
>>14093 Hope you are doing well MeidoDev. It would be nice to see what you're up lately. BTW, that waifu is wonderful. I hope you make her someday! :^)

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Why consider alternative CPU architectures for secure systems? Robowaifu Technician 07/25/2020 (Sat) 13:55:25 No.4506 [Reply] [Last]
Hello Anons, wanted to share some info and perhaps make you think about what you should compute with. x86/amd64 -Proprietary ISA (Instruction Set Architecture) This means to get enough low-level detail requires signing non disclosure agreements (NDA). Even then, they might not disclose all the available commands (see Breaking x86 video below). If you cannot trust what the processor is doing, then no open-source software will make it any more trustworthy. -Complexity Common instruction sets come with hundreds (over a 1000 for x86) instructions. Breaking x86 instruction set https://www.hooktube.com/watch?v=KrksBdWcZgQ Hardware backdoor x86 (not for all processor models) https://www.hooktube.com/watch?v=_eSAF_qT_FY The more complex the system, the more bugs (in hardware and software). Intel had plenty of bugs that were discovered post release, for example the Pentium floating point division: https://en.wikipedia.org/wiki/Pentium_FDIV_bug). Interestingly, the x86 assembly instructions are actually decoded to a sequence of RISC instructions to be used by the internal cores of the CPU.

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I haven't really thought much about security other than simply not giving it any sort of internet connectivity. I had thought about giving it some wireless connectivity, but only because of the limitations of fitting a PC inside of a space roughly the size and shape of a human skull and torso. I was thinking of a completely offline server with wireless transceiver and another transceiver inside the skull, with a signal only strong enough to maintain a signal within my own property.
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>>4506 Going to necro this thread. Does anyone use a librebooted thinkpad for their development? How is it? I'm getting one for backdoor-less work. Second pic unrelated.
>>6858 MIPS back on the menu? Restructure in 2021. https://www.mips.com/about/
>>13155 Please contribute ideas into the Sumomo Project thread Anon (>>14409) We're designing solutions that are intended to deal directly with issues such as this. Your feedback there would be appreciated! >>13757 >Going to necro this thread. Lol, we don't have such a thing as necro'ing here on /robowaifu/, Anon. We keep subjects on-topic to the extent feasible. Your's is in the right place afaict. I wish I had info for you, but I've never gotten my own Thinkpad yet. I know it's a popular topic though, so I imagine it's locatable info. Please share here again with anything you uncover Anon! >>14745 >>14764 This would be welcome if true Anon. Have any >tl;dr for us a month passed?

C++ General Robowaifu Technician 09/09/2019 (Mon) 02:49:55 No.12 [Reply] [Last]
C++ Resources general

The C++ programming language is currently the primary AI-engine language in use.

isocpp.org/get-started
https://archive.is/hp4JR

stackoverflow.com/questions/388242/the-definitive-c-book-guide-and-list
https://archive.is/OHw9L

en.cppreference.com/w/
https://archive.is/gt73H

www.youtube.com/user/CppCon
https://archive.is/QGynC

BTW if you're new to C++ and you're stuck on Windows (either you can't or won't upgrade to Linux) then you can at least incorporate a good, open shell into your system to begin with so you can follow along. Start at this link, and if you have any questions just ask ITT:
www.msys2.org/
https://archive.fo/p3EUc
Edited last time by Chobitsu on 10/05/2019 (Sat) 20:16:32.
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>>14758 Naicu insights, Anon. Thanks! >correct code is both easier to understand and faster. Lol, you clearly saved the best bit for last. :^) I would go further and add that the closer you fashion a solution in code to one that a domain expert themselves immediately recognize as good one, then the more likely it is to be efficient in both time and space after compilation. I hope you help us all with the drivers Anon. We'll probably start with the Arduino Nano (which is amply documented already) and move out from there. Cheers.
>>14759 Sure. But I haven't done drivers. Never touched an Arduino either.
>>14765 Neat! That's good to hear Anon. Welcome aboard! >But I haven't done drivers. It'll be easy. You just need to devise a standardized way to talk to the device's pins. As you might imagine, pin numbers can be all over the place, and may also require small amounts of preamble ceremony beforehand. We just need to turn that into easy to remember interfaces, standard across all the devices we'll use in our robowaifus. I'd suggest you have a look at Derek Molloy's videos for a starter Anon. https://www.youtube.com/c/DerekMolloyatDCU/playlists >Never touched an Arduino either. You might want to pick up a handful then, they're quite inexpensive (for the power they bring). Here's but one of hundreds of possible sources, 3 for ~ US$ 20 www.amazon.com/REXQualis-Board-ATmega328P-Compatible-Arduino/dp/B07WK4VG58 >=== -fix missing greenquote
Edited last time by Chobitsu on 12/23/2021 (Thu) 12:41:36.
>>14738 kek, feel free to email the libcaptcha author (kefeer@brokestream.com). that library has some problems indeed, I noticed that various things were wrong when I used it for the ib, I even felt tempted to rewrite it entirely, or at least partly, or at the very least fix the compiler warnings, but got scared by the copyright notice (points 1 and 2 in particular). and didn't want to waste time writing my own. I ended up doing things like avoiding the gifSize "constant" entirely and the declare my own ("constexpr int gifSize = 17646"; constexpr is a C++ specifier for expressions that are known at compile time). to avoid some of the semantic problems that you mention. you're wrong about the internal linking tho. g++ uses internal linking by default for symbols marked as "const" (and static, obviously). I never #include the libcaptcha.c file, so the compiler would throw an error (even before linking) if I tried to use those symbols anyway. the C++ part (my code) is even worse. from the hard-coded queries to the obscure orm (which needs it's own compiler to generate implementation files), blocking queries everywhere, and non-threadsafe globals in a multi-threading context. it nonetheless work. I might try to write something better in zig or C++ in the distant future
>>14826 >blocking queries everywhere, and non-threadsafe globals in a multi-threading context. We'd certainly be interested in seeing solutions to these issues Anon. BTW, do you know of Apple's libdispatch ?

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