GuyHoffman_2013X[盖伊.霍夫曼][有“灵魂”的机器人].pdf

www.XiYuS锡育软件My job is to design,build and study robots thatcommunicate with people.我的工作是设计、构造和研究 那些能够与人交流的机器人。00:12But this story doesnt start with robotics at all,it starts withanimation.不过这个故事不是从机器人说起,而是要从动画说起。00:17When I first saw Pixars Luxo Jr.,当我第一次看到皮克斯的顽皮跳跳灯电影时,00:20I was amazed by how much emotion they could put intosomething as trivial as a desk lamp.我惊呆了,一个如此微不足道的台灯 竟能表现如此多的感情。00:23I mean,look at them-at the end of this movie,you actuallyfeel something for two pieces of furniture.你看他们啊！电影结尾的时候,你真的开始喜欢上这两件小小的家具了。00:29(Laughter)And I said,I have to learn how to do this.（笑声）我对自己说,我要学会做这样的东西。00:33So I made a really bad career decision.所以我做了一个很坏的职业决策,00:37And thats what my mom was like when I did it.我做出这个决定的时候,我妈妈就是这样的。00:41(Laughter)I left a very cozy tech job in Israel at a nicesoftware company and I moved to New York to studyanimation.（笑声）我辞去了在以色列一个软件公司的 一份非常舒服的技术工作,我搬到了纽约 去学习动画。00:43And there I lived in a collapsing apartment building inHarlem with roommates.在那,我和我的室友住在 哈莱姆一栋即将坍塌的公寓楼里。00:51communicate with:沟通;通话 robotics:n.机器人学 animation:n.活泼,生气;激励;卡通片绘制 amazed:adj.惊奇的,吃惊的/v.使吃惊;把弄糊涂(amaze的过去分词)desk lamp:桌灯,台灯 cozy:n.保温罩/vt.蒙骗；抚慰/adj.舒适的；安逸的collapsing:v.崩溃;塌陷(collapse的ing形式);折叠;压扁 roommates:n.室友(roommate的复数形式)Im not using this phrase metaphorically,the ceiling actuallycollapsed one day in our living room.我没有夸张,有一天天花板真的塌下来了 就塌在了我们的客厅里。00:55Whenever they did those news stories about buildingviolations in New York,they would put the report in front ofour building.每次报到纽约的违章建筑时,他们都会跑到们的大楼下进行采访。01:00As kind of like a backdrop to show how bad things are.就好像让你看看现场有多糟糕一样。01:05Anyway,during the day I went to school and at night I wouldsit and draw frame by frame of pencil animation.言归正传,我上学的日日夜夜,我不停地一幅又一幅地用铅笔画着画。01:08And I learned two surprising lessons-one of them was thatwhen you want to arouse emotions,it doesnt matter somuch how something looks,its all in the motion-its in thetiming of how the thing moves.我学到了两个让我惊讶的东西 其中一个是:当你想要唤起某些情感时,外观并不算太重要,关键是动作物体运动时,对时间的把握。关键是动作物体运动时,对时间的把握。01:14And the second,was something one of our teachers told us.第二个是我们的一个老师告诉我们的。01:26He actually did the weasel in Ice Age.他正是电影冰河世纪的黄鼠狼。01:29And he said:As an animator you are not a director,yourean actor.他说:”作为一个动画制作者,你不是一个导演,而是一个演员。“01:32metaphorically:adv.隐喻地;用比喻 collapsed:adj.倒塌的;暴跌的;收缩的;倾陷了的/v.倒塌;崩溃(collapse的过去分词);价格暴跌 violations:n.违反,妨碍;违规或不雅行为(violation的复数形式)backdrop:n.背景;背景幕;交流声 weasel:vi.逃避;含糊其辞/n.鼬鼠;狡猾的人 animator:n.鼓舞者;赋与生气者;卡通片绘制者(等于animater)So,if you want to find the right motion for a character,dontthink about it,go use your body to find it-stand in front ofa mirror,act it out in front of a camera-whatever you need.所以如果你要为一个角色找到正确的肢体语言,不要想,用你的身体找到它,站在镜子面前,摄像机前,演出来,无论你需要做什么。01:36And then put it back in your character.然后再把这个动作放在你的角色上。01:45A year later I found myself at MIT in the robotic life group,itwas one of the first groups researching the relationshipsbetween humans and robots.一年以后,我去了麻省理工大学（MIT）的 机器人生命小组,这是最早 开始研究人类和机器人关系的小组之一。01:48And I still had this dream to make an actual,physical Luxo Jr.lamp.我依然怀揣着要造一个 真正的、可触碰的顽皮跳跳灯的梦想。01:55But I found that robots didnt move at all in this engaging但是我发现机器人完全不是 按照我的动画课程中的那种 按照我的动画课程中的那种02:00TED演讲者：Guy Hoffman|盖伊.霍夫曼演讲标题：Robots with soul|有“灵魂”的机器人内容概要：What kind of robots does an animator/jazz musician/roboticist make?Playful,reactive,curious ones.Guy Hoffman shows demo film of his family of unusual robots-including two musical bots that like to jam with humans.(Filmed at TEDxJaffa.)一个动画制作者、爵士音乐家、机器人专家会造出什么样的机器人呢?好玩的、会互动的、有好奇心的机器人。盖伊.霍夫曼给我们展示了他的机器人家族的一些特殊机器人的影像片段，其中包括两个喜欢和人类一起玩音乐的机器人。（摄于TEDx雅法）But I found that robots didnt move at all in this engagingway that I was used to for my animation studies.的那种 按照我的动画课程中的那种02:00Instead,they were all-how should I put it,they were allkind of robotic.相反的,他们都 该怎么说呢？他们都有点儿机械化。02:04(Laughter)And I thought,what if I took whatever I learned inanimation school,and used that to design my robotic desklamp.（笑声）我就想,如果我可以把我在动画学校学到的东西 应用于设计我的机器人台灯会怎样？02:09So I went and designed frame by frame to try to make thisrobot as graceful and engaging as possible.因此我设计了一幅又一幅,试图让这个机器人 尽量优雅、有吸引力。02:17stand in:定位替身;代演员站位 robotic:adj.机器人的,像机器人的;自动的/n.机器人学 researching:研究/研究员 lamp:n.灯;照射器/vt.照亮/vi.发亮 engaging:adj.迷人的/v.参加(engage的ing形式);保证;雇用And here when you see the robot interacting with me on adesktop.这里你可以看到这个桌子上的机器人 在跟我互动,02:24And Im actually redesigning the robot so,unbeknownst toitself,its kind of digging its own grave by helping me.我其实是在重新设计这个机器人,而这个机器人完全不知道,它帮我,其实是在自掘坟墓呢。02:27(Laughter)I wanted it to be less of a mechanical structuregiving me light,and more of a helpful,kind of quietapprentice thats always there when you need it and doesntreally interfere.（笑声）比起把他它做成一个照明的机械,比起把他它做成一个照明的机械,我更想要一个能帮忙的、安静的学徒,随时满足你的需求却不打扰你。02:34And when,for example,Im looking for a battery that I cantfind,in a subtle way,it will show me where the battery is.比如,当我要找一个我怎么也 找不到的电池时,它可以巧妙地提醒我电池在哪里。02:45So you can see my confusion here.你看到我的困惑了吗？02:53Im not an actor.我不是一个演员。02:56And I want you to notice how the same mechanical structurecan at one point,just by the way it moves seem gentle andcaring-and in the other case,seem violent andconfrontational.我希望你们注意到,同一个机械如何 在前一刻非常温柔、充满关怀,在前一刻非常温柔、充满关怀,下一刻又显得非常暴力,有进攻性。03:00And its the same structure,just the motion is different.一模一样的结构,改变的仅仅是动作。03:10Actor:You want to know something?Well,you want toknow something?演员:”你想知道吗？你真的想知道吗？03:19interacting:n.相互作用;相互制约/v.互相影响;互相作用(interact的ing形式)redesigning:v.重构;重设计(redesign的现在分词)unbeknownst:adv.不知地/adj.不知的 apprentice:n.学徒;生手/vt.使当学徒/vi.当学徒 confrontational:adj.对抗的;对抗性的He was already dead!他已经死了！03:24Just laying there,eyes glazed over!他已经死了！03:25(Laughter)But,moving in graceful ways is just one buildingblock of this whole structure called human-robot interaction.（笑声）（笑声）人类机器人互动结构的一块基石。03:29I was at the time doing my Ph.D.,I was working on humanrobot teamwork;teams of humans and robots workingtogether.那时候我正在攻读我的博士学位,我正在研究人类与机器人的团队合作,也就是人类和机器人一起合作。03:36I was studying the engineering,the psychology,thephilosophy of teamwork.我在学习团队合作的工程学,心理学和哲学。03:42And at the same time I found myself in my own kind ofteamwork situation with a good friend of mine who isactually here.同时,我意识到自己 和我的一个好朋友（他今天也在这里）,也碰到了一个团队合作的情境。03:46And in that situation we can easily imagine robots in the nearfuture being there with us.在那个情境中,我们很容易想象 不久的将来机器人会和我们在一起。03:51It was after a Passover seder.那是在一个逾越节家宴结束后,03:56We were folding up a lot of folding chairs,and I was amazedat how quickly we found our own rhythm.我们要收起大量的折叠椅,我惊讶于我们迅速找到了各自的节奏。03:58Everybody did their own part.每个人都做了自己的那部分,04:02glazed:adj.光滑的;像玻璃的;上过釉的;呆滞无神的/v.上釉(glaze的过去分词);装以玻璃 psychology:n.心理学;心理状态teamwork:n.团队合作;协力 folding:adj.可折叠的 amazed at:吃惊于We didnt have to divide our tasks.无需分工,04:04We didnt have to communicate verbally about this.无需特意口头沟通。04:06It all just happened.就这样发生了。04:08And I thought,humans and robots dont look at all like this.于是我想,于是我想,04:09When humans and robots interact,its much more like achess game.当人类和机器人互动的时候,就好像他们在下象棋。04:12www.XiYuS锡育软件The human does a thing,the robot analyzes whatever thehuman did,then the robot decides what to do next,plans itand does it.人类走一步,机器人对此分析一下,然后机器人决定接下来怎么做,计划好,走下一步。04:15And then the human waits,until its their turn again.这时候人类就等着,直到轮到他们玩为止。04:21And then the human waits,until its their turn again.So,its much more like a chess game and that makes sensebecause chess is great for mathematicians and computerscientists.所以,人类和机器人的互动更像下象棋,这很好理解,因为 对数学家和计算机科学家来说,象棋很好,04:23Its all about information analysis,decision making andplanning.它们都是关于信息分析、决策制定和计划。04:28But I wanted my robot to be less of a chess player,and morelike a doer that just clicks and works together.但比起象棋玩家,我更希望我的机器人是一个行动者,但比起象棋玩家,我更希望我的机器人是一个行动者,可以和人类有默契地一起工作。04:33So I made my second horrible career choice:I decided tostudy acting for a semester.于是我做了我人生中的第二个糟糕的职业决策:我决定学习一学期的表演课程。04:41verbally:adv.口头地,非书面地;用言辞地 waits:计等待/等候 mathematicians:n.数数学家(mathematician的复数形式)doer:n.实干家;行为者 semester:n.学期;半年I took off from a Ph.D.I went to acting classes.我放下了我的博士课程,去上了表演课。04:47I actually participated in a play,I hope theres no video ofthat around still.我还参与了一个戏剧,希望现在已经找不到那个视频了。04:50And I got every book I could find about acting,including onefrom the 19th century that I got from the library.我找到了每一本关于表演的书,其中包括一本从图书馆里借来的 19世纪的书。04:55And I was really amazed because my name was the secondname on the list-the previous name was in 1889.(Laughter)我震惊地发现我的名字是借阅者名单上的第二个,之前的一个名字是1889年。（笑声）05:01And this book was kind of waiting for 100 years to berediscovered for robotics.这本书已经躺了100年了,只为了借机器人之名被重新发现。05:07And this book shows actors how to move every muscle in thebody to match every kind of emotion that they want toexpress.这本书教演员 如何调动他们身体上的每块肌肉 来表达他们想要表达的情感。05:12But the real relevation was when I learned about methodacting.真正让我受到启示的是 方法演技。05:18It became very popular in the 20th century.方法演技。05:21And method acting said,you dont have to plan every musclein your body.方法演技指出,你不需要安排你的每一块肌肉,05:24Instead you have to use your body to find the rightmovement.相反,你可以用你的身体找到对的动作。05:26participated:v.参与;分享(participate的过去式)theres:adv.在那里;在那边;在那点上/int.你瞧/n.那个地方 rediscovered:v.重新发现,重新找到(rediscover的过去分词)muscle in:硬挤进/侵入/干涉/强夺You have to use your sense memory to reconstruct theemotions and kind of think with your body to find the rightexpression.你应该运用你的感觉记忆,去重新建构情感,用你的身体找到对的表情。05:29Improvise,play off yor scene partner.即兴发挥,根据你的场景搭档即兴表演。05:36And this came at the same time as I was reading about thistrend in cognitive psychology called embodied cognition.这个时候我也正读到 认知心理学关于具身认知的东西,05:38Which also talks about the same ideas-We use our bodiesto think,we dont just think with our brains and use ourbodies to move.这也谈到同样的观点 即我们用我们的身体思考,我们并不是用大脑思考用身体表现,05:44but our bodies feed back into our brain to generate the waythat we behave.而是我们的身体反馈给大脑 并做出相应的动作,05:50And it was like a lightning bolt.这对我好像一道闪电。05:54I went back to my office.我马上回了我的办公室。05:56I wrote this paper-which I never really published calledActing Lessons for Artificial Intelligence.我写了这篇论文,从来也没发表过,叫做人工智能的表演课。05:57And I even took another month to do what was then the firsttheater play with a human and a robot acting together.我甚至花了一个月的时间 去做当时第一部由人类和机器人 一起主演的戏剧。06:02reconstruct:vt.重建;改造;修复;重现 Improvise:vt.即兴创作;即兴表演;临时做;临时提供/vi.即兴创作;即兴表演;临时凑合play off:使出丑,使暴露弱点;使相斗;把假装 cognitive:adj.认知的，认识的 cognition:n.认识;知识;认识能力 feedback:反馈;反应;回复Thats what you saw before with the actors.你之前看到的演员和机器人的表演就是这部戏剧。06:08And I thought:How can we make an artificial intelligencemodel-computer,computational model-that will modelsome of these ideas of improvisation,of taking risks,oftaking chances,even of making mistakes.当时我就想:我们怎样可以做出这样的人工智能模型 计算机、计算机模型等等,它们会即兴发挥、会冒险、甚至会犯错。06:12Maybe it can make for better robotic teammates.它可能会是更好的机器人队友。06:24So I worked for quite a long time on these models and Iimplemented them on a number of robots.因此我花了很多时间去研究这些模型,我还在几个机器人身上做了试验。06:27Here you can see a very early example with the robots trying这里你可以看到一个早期的例子,这个机器人试图Here you can see a very early example with the robots tryingto use this embodied artificial intelligence,to try to matchmy movements as closely as possible,sort of like a game.运用具身人工智能 来尽量模仿我的动作,就好像一个游戏。06:32Lets look at it.我们来看一下。06:42You can see when I psych it out,it gets fooled.你可以看到我可以糊弄它。06:47And its a little bit like what you might see actors do whenthey try to mirror each other to find the right synchronybetween them.有点像你可能看到的演员们 互相模仿对方 只为了找到他们之间的默契。06:51computational:adj.计算的 improvisation:n.即兴创作;即席演奏 make for:导致;有助于;走向 implemented:v.实施(implement的过去分词形式);执行/adj.应用的 psych:vt.用精神分析治疗;使作好心理准备 synchrony:n.同步And then,I did another experiment,and I got people off thestreet to use the robotic desk lamp,and try out this idea ofembodied artificial intelligence.然后,我又做了另外一个实验,我从大街上拉人来使用这个机器人台灯,试验具身人工智能。06:58So,I actually used two kinds of brains for the same robot.其实,同样的机器人我用了两个大脑,07:08The robot is the same lamp that you saw,and I put in it twobrains.机器人就是你看到的这个台灯,机器人就是你看到的这个台灯,07:12For one half of the people,I put in a brain thats kind of thetraditional,calculated robotic brain.对一半的人,我放入了一个传统的、机械计算的大脑。07:15It waits for its turn,it analyzes everything,it plans.它会等,会分析,会计划,07:21Lets call it the calculated brain.我们暂且称它为“会计算的大脑”。07:24The other got more the stage actor,risk taker brain.给另一半人则是那个舞台演员、爱冒险的大脑,07:25Lets call it the adventurous brain.我们暂且称它为“爱冒险的大脑”,07:29It sometimes acts without knowing everything it has to know.有的时候它在并不知道所有事情的时候行动,07:31It sometimes makes mistakes and corrects them.有的时候它会犯错然后去纠正。07:34And I had them do this very tedious task that took almost 20minutes and they had to work together.我让他们完成一项无比乏味的任务,这个任务要花近20分钟,他们必须一起合作完成,07:36try out:试验;提炼;考验 taker:n.接受者;接受打赌的人;捕获者 adventurous:adj.爱冒险的;大胆的;充满危险的 corrects:v.纠正(correct的第三人称单数);改正Somehow simulating like a factory job of repetitively doingthe same thing.有点类似在工厂工作,机械地重复一件事情。07:42And what I found was that people actually loved theadventurous robot.我发现人们非常喜欢 那个“爱冒险的机器人”。07:47And they thought it was more intelligent,more committed,abetter member of the team,contributed to the success ofthe team more.他们觉得它非常聪明,非常忠心,是一个很好的团队成员,一起帮助团队成功。07:50They even called it he and she,whereas people with thecalculated brain called it it.And nobody ever called it he orshe.他们甚至称它为“他”和“她”,而另外那些人称那个“会计算的机器人”为“它”,没有人称它为“他”或“她”。07:56When they talked about it after the task with theadventurous brain,they said,By the end,we were goodfriends and high-fived mentally.任务完成后,那些与“会冒险的大脑”互动的人说:“最后,我们成了好朋友,还在脑内举手击掌了。”08:03Whatever that means.不管那是啥意思08:11(Laughter)Sounds painful.（笑声）听上去很（口齿不清）08:12Whereas the people with the calculated brain said it was justlike a lazy apprentice.然而,那些与“会计算的大脑”互动的人 则说“它就像一个懒徒弟,08:15It only did what it was supposed to do and nothing more.只做最基本的。“08:21Which is almost what people expect robots to do,so I wassurprised that people had higher expectations of robots,than what anybody in robotics thought robots should bedoing.这基本上和同人对机器人期待一样,所以我有些惊讶,比起那些机器人研究专家,人们居然对机器人有更高的期望。08:23simulating:n.模拟/假装 repetitively:adv.重复地 contributed:adj.贡献的,分配的;已缴入的/v.有助于,贡献(contribute的过去分词)high-fived:举手击掌 mentally:adv.精神上,智力上;心理上And in a way,I thought,maybe its time-just like methodacting changed the way people thought about acting in the19th century,from going from the very calculated,plannedway of behaving,to a more intuitive,risk-taking,embodiedway of behaving.但从另一个角度,我又想,也许就像方法演技改变了19世纪人们思考表演的方式一样,是时间改变这种通过精确计算的 行为方式,而转向一种更直觉的、冒险的、用身体表现的行为方式。08:33Maybe its time for robots to have the same kind ofrevolution.也许类似的 机器人革命时间到了。08:47A few years later,I was at my next research job at GeorgiaTech in Atlanta,and I was working in a group dealing withrobotic musicians.几年后,几年后,我在一个研究机器人音乐家的 小组工作。08:51And I thought,music,thats the perfect place to look atteamwork,coordination,timing,improvisation-and we justgot this robot playing marimba.小组工作。研究团队合作、配合、时间分配和即兴表演的领域,我们有这个玩马林巴的机器人。08:57Marimba,for everybody who was like me,it was this huge,wooden xylophone.和我一样对乐器不在行的朋友,马林巴是 一个巨大的木琴。09:07And,when I was looking at this,I loo