/robowaifu/ - DIY Robot Wives

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

Reports of my death have been greatly overestimiste.

Still trying to get done with some IRL work, but should be able to update some stuff soon.

#WEALWAYSWIN

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Hand Development Robowaifu Technician 07/28/2020 (Tue) 04:43:19 No.4577 [Reply] [Last]
Since we have no thread for hands, I'm now opening one. Aside the AI, it might be the most difficult thing to archive. For now, we could at least collect and discuss some ideas about it. There's Will Cogleys channel: https://www.youtube.com/c/WillCogley - he's on his way to build a motor driven biomimetic hand. It's for humans eventually, so not much space for sensors right now, which can't be wired to humans anyways. He knows a lot about hands and we might be able to learn from it, and build something (even much smaller) for our waifus. Redesign: https://youtu.be/-zqZ-izx-7w More: https://youtu.be/3pmj-ESVuoU Finger prototype: https://youtu.be/MxbX9iKGd6w CMC joint: https://youtu.be/DqGq5mnd_n4 I think the thread about sensoric skin >>242 is closely related to this topic, because it will be difficult to build a hand which also has good sensory input. We'll have to come up with some very small GelSight-like sensors. F3 hand (pneumatic) https://youtu.be/JPTnVLJH4SY https://youtu.be/j_8Pvzj-HdQ Festo hand (pneumatic) https://youtu.be/5e0F14IRxVc Thread >>417 is about Prosthetics, especially Open Prosthetics. This can be relevant to some degree. However, the constraints are different. We might have more space in the forearms, but we want marvelous sensors in the hands and have to connect them to the body.

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>>9690 Yes, looks like a decent, reasonably rugged design Anon. Thanks for bringing it to our attention. BTW, anon started a prosthetics thread here as well. Seems on-topic. >>417
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I've been looking for attempts at playing piano with bionic hands. Someone made a rudimentary robot 11 years ago but they barely count as hands since they can only press the white keys. https://www.youtube.com/watch?v=IwuiOwZrzCM The closest thing I could find was this military prosthetic: https://www.youtube.com/watch?v=DP677lA_DEA And this robot typing on a keyboard which is pretty cool: https://www.youtube.com/watch?v=Nek_yvvLRdQ Are servos not fast or strong enough to make quick movements or is it more of a control problem? Could larger servos be stored in the chest and operate the hands with cables using pulleys?
>>10072 Bionic prosthetics normally don't have sensors. For building a robot playing piano you would probably want that. Btw, I just got my heat sensitve plastics for making hands skeletons like therobotstudio did (16€/kg). Here: https://youtu.be/bVDneXZ_YfQ - related (various vids): >>9362 >>9471 Some of the hands related vids: https://youtu.be/kWeJyduvhwA https://youtu.be/CfB8Mrh1dSI https://youtu.be/1PYMT1U8qiM https://youtu.be/tO3B_OyyqmQ https://youtu.be/tZ-ouSmt5gw
>>10072 >Could larger servos be stored in the chest and operate the hands with cables using pulleys? Not that anon, but you have a sound design idea there Anon. If we can figure out a way to entirely remove the weight and volume of servos out on the arms, then that will help everything move along better for us, physics-wise (and therefore, agility & energy-consumption wise). It will take some creativity to figure out how to do this, but using some form of cable-only approach in all the extremities will pay off in spades for us all.
>related (>>10179)

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Robowaifu Simulator Robowaifu Technician 09/12/2019 (Thu) 03:07:13 No.155 [Reply] [Last]
What would be a good RW simulator. I guess I'd like to start with some type of PCG solution that just builds environments to start with and build from there up to characters.

It would be nice if the system wasn't just pre-canned, hard-coded assets and behaviors but was instead a true simulator system. EG, write robotics control software code that can actually calculate mechanics, kinematics, collisions, etc., and have that work correctly inside the basic simulation framework first with an eye to eventually integrating it into IRL Robowaifu mechatronic systems with little modifications. Sort of like the OpenAI Gym concept but for waifubots.
https ://gym.openai.com/
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>>9047 Oh haha I see. Well, it's still good to know you're here. Good luck with your 'stuff' Anon. I too found Chobits inspirational when I was young.
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Has anyone tried PhysX? The most interesting feature of it for me is the GPU acceleration because PyBullet isn't really ideal for training thousands of iterations simultaneously. https://www.youtube.com/watch?v=K1rotbzekf0 https://github.com/petrikvladimir/pyphysx I'd like to start moving on from just learning about AI and actually apply it to some real problems that can be transferred to the real world. My goal is to start assembling my own robowaifu by the end of the year that can do some basic task like locate my hand and give me a high five or something.
>>9708 Yes, I've played with it bit (cloth sims & rigid body collisions mostly). Nvidia is plainly an evil Big Tech/Gov entity like the others, but they have made a remarkable push to make their GPU ecosystem easy to use if you at least have the basics of C programming under your belt.
While I wait for stuff to train I started working a side-project for playing video games with hindsight experience replay and became fascinated with the idea of repurposing the model afterwards for a piano simulation, similar to how they trained a robot hand to solve a Rubik's cube in a simulation then did transfer learning to the real world. A ton of progress has been made in making computer vision and reinforcement learning more efficient. Just two years ago it was probably too early to make any useful simulation and reasonably train an agent in it to do something interesting but now I think it's within reach. Maybe it's only an exciting idea to me but I think it would be a great way to demonstrate how far along AI has progressed and that anyone can make their own waifu play piano MIDI files given. We could demo other capabilities with it too like making her say the title of the song before playing and generate some virtual waifu hype. The simulation code would also provide a base for others to get started doing other custom simulations such as moving arms, balancing, and walking.
>>10073 >Maybe it's only an exciting idea to me No, I think it's a great idea Anon. I agree this would both be an innovative and useful way to build up training for AIs/Robowaifus.

Open Prosthetics Robowaifu Technician 09/18/2019 (Wed) 11:49:58 No.417 [Reply]
The decades-old medical field of prosthetics has already leveraged untold hours of research, billions of dollars of financing, and yuge levels of both clinical and field trials.

Might be a good idea to look to this area for inspiration and ideas for RoboWaifus as well.

www.openhandproject.org/
https://archive.is/TEINC

www.openbionics.org/
https://archive.is/P5wTy

www.open-electronics.org/the-open-prosthetics-project-is-making-giant-leaps/
https://archive.is/4yjfD

www.technologist.eu/the-rise-of-open-source-prosthetics/
https://archive.is/QofXU
Seems to be down atm.

openprosthetics.org/
https://archive.is/vRaJD
Yale OpenHand Project
This looks interesting.

www.eng.yale.edu/grablab/openhand/
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Hand exoskeleton project from a Swiss bio-inspired academic robotics lab.
biorob.epfl.ch/research/research-rehabilitation/page-158960-en-html/
While looking for bionic hands I found some open-source files, which I believe were used as a base for the Hero Arm >>9690 https://openbionicslabs.com/downloads
>>10071 Nice find Anon, thanks. Looks like they've gone through a progression to arrive at the current design.

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Robowaifu Fail-safety Robowaifu Technician 12/02/2019 (Mon) 06:37:26 No.1671 [Reply]
This thread is for real and present dangers to those who assemble a robowaifu today with the state of the art in technology and brainstorming solutions for fail-safety. There will be many other dangers in the future to consider like hacking and theft but I'd like to keep the thread focused on immediate dangers to keep operators and their electronic counterparts safe.

Open-source robowaifu kits, whenever they come, will be put together by people with little understanding of what they're doing. There are simple mechanical dangers they need to be aware of like getting fingers caught in belts or skin pinched in open joints to curious AI without constraints picking up a blunt object and hitting the operator to minimize its uncertainty of what will happen when it does that. Higher voltage power systems can cause fatal heart arrhythmia from shocks. Hydraulic systems can overheat and fail under high pressures. Cooling systems or condensation from being exposed to cold weather may leak onto electronics. A robowaifu could touch a lit gas stove or do something accidentally without realizing the danger or consequences. Undefined behavior may happen after damage to components or loss of them in an accident. A lot could go wrong.

In simulations there are no consequences to dangerous actions but I think it will be helpful to imagine them as being real and figuring out how we would recover from these failure states in the real world. This will probably be a good approach to AI as well to imagine real consequences of imaginary actions before taking them and avoid actions and states that have significant chance or uncertainty of causing harm, similar to how MuZero creates its own dynamic model and explores its imagination with a Monte Carlo tree search before taking action.

If you're aware of any dangers or have any concerns or ideas please share them so we can discuss and solve them.
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>>8082 Older children also tend to search around without permission or touch everything lying around. So I would put a warning into the case with the solder, telling them to put it back and wash their hands immediately. Also put a shiny warning label onto it.
Guide to Supervisory Control and Data Acquisition (SCADA) and Industrial Control Systems Security Recommendations of the National Institute of Standards and Technology
I'm a bit of a mad scientist trying to develop self-aware AI but I haven't put much thought into how I'm actually going to interact with it once it works. While only an AI the obvious safety measures are limiting the amount of resources it can use and making sure it can't run arbitrary code or exploit vulnerabilities, but having a robowaifu that is aware she is a machine is a completely different problem altogether. There's no way an AI with less parameters than a mouse brain and the lack of a limbic system stimulating it with desires will pose much of a threat but it could still potentially do a lot of harm either intentionally or unintentionally by exploring the environment. At the most basic level one way to limit injury to myself and any damage to property is to create an override system that prevents any dangerous intentions from being acted upon and logging these incidents but this will require being able to identify dangerous intentions. This system would have to be more advanced than the AI otherwise it might find ways around it like placing objects in certain ways that will cause me to trip and fall. Another plan is to have an emergency stop, both a physical button on the robowaifu, a remote one and a voice-activated one. Although these are fine and dandy I don't think they address the core issue of the AI making decisions that cause harm or cause destruction, again either intentionally or unintentionally. I think it will be similar in some ways to raising a child and teaching her not to break shit, but also much different since AI can learn specific tasks so much faster than a human being but at the same time also fail to generalize what was learned to other tasks. There's a lot of instinctual knowledge in our genetics that we take for granted. For instance, something like mirror neurons might be required for machines to learn empathy. Some researchers hypothesize that mirror neurons are required for self-awareness itself because they give the ability to introspect one's own previous mental states. If that is the case, self-awareness might not be so dangerous. Perhaps the best way to explore this would be in the form of a story or visual novel and start from the very beginning of the AI discovering she can look around and move her hands and perhaps getting confused about going to 'sleep' when she's shutdown at night because several hours disappear and everything changes. With each scenario I could try to think of ways to tweak her, like so she actually finds it logical to shutdown at night and gains trust in me by having a system to automatically boot her up in the morning. I think building a bond and trust between each other will be essential. I'm afraid of her hurting me and she will be confused what she even is while not having the same human limbic impulses like a fear of death, being hungry and so on. Emotions are essentially thoughts with momentum, so I believe a self-aware and sufficiently capable AI will gradually develop its own emotions that are very different from human ones. This might include a desire for self-preservation and fear of any unpredictable behavior. One important feature may happen to be an energy function of some sort that reduces the robowaifu's power consumption as the battery gets low or as the day goes on and the robowaifu becoming aware of this process, that if she runs out of energy she blacks out. Anyway, if I have any good thought experiments I'll post them in the robowaifu fiction thread. And like the OP states, it's probably best to train the AI in a simulation first before training in the real world.
>>10059 >I'm a bit of a mad scientist trying to develop self-aware AI Welcome brother! Make yourself right a home here, you're among fellows. I think we may all be just a bit mad here.
>>10059 We're partially programming them. Problem solved. No, I won't engage in speculations on how to do that exactly. You'll see when I'll put something out, or you can do it yourself.

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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Quads for Yuzuki. She gets entirely too little love. She's beautiful, charming, warm, refined, loving, attentive. You could hardly desire a better robowaifu in my opinion.
>>9999 patrician choice quad get confirms
>>9999 Lol, military boots for a maid?
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I am not sure if she couns but Octavia prime is hot as fuck and kinda a robot. She has a great visible/hidden asset ratio. Warframe doesn't seem to start atm but if the game starts i will post my Octavia with good angles. I don't play any instrument but i really like how she has soo many in her design, her heels look great with her long legs. I love how her skirt sometimes flaps and shows her perfect ass for a second.
I had no idea this manga existed but the design for my robowaifu looks and has a similar personality to Asebi from Asebi and Adventurers of Sky World, like a 90% match. I feel like I need to give her bit of a makeover so she doesn't have a My Dear Marie moment one day.

R&D General Robowaifu Technician 09/10/2019 (Tue) 06:58:26 No.83 [Reply] [Last]
This is a thread to discuss smaller waifu building problems, solutions, proposals and questions that don't warrant a thread. Keep it technical. I'll start.

Liquid battery and cooling in one
Having a single "artificial blood" system for liquid cooling and power storage would eliminate the need for a vulnerable solid state battery, eliminate the need for a separate cooling system, and solve the problem of extending those systems to extremities.
I have heard of flow batteries, you'd just need to use a pair of liquids that's safe enough and not too sensitive to changes in temperature.
This one looks like it fits the bill. The downside is that your waifu would essentially be running on herbicide. (though from what I gather, it's in soluble salt form and thus less dangerous than the usual variety)
https://www.seas.harvard.edu/news/2017/02/long-lasting-flow-battery-could-run-for-more-than-decade-with-minimum-upkeep

How close are we to creating artificial muscles? And what's the second best option?
Muscles are perfect at what they do; they're powerful, compact, efficient, they carry their own weight, they aren't dependent on remote parts of the system, they can be controlled precisely, and they can perform many roles depending on their layout alone.
We could grow actual organic muscles for this purpose already but that's just fucking gross, and you'd need a lot of extra bloat to maintain them.
What we need are strands of whatever that can contract using electrical energy. Piezo does the trick at small scales, but would it be enough to match the real thing? There have been attempts, but nothing concrete so far.
What are some examples of technology that one could currently use instead?

High level and low level intelligence emulation
I've noticed a pattern in programs that emulate other computing hardware.
The first emulators that do the job at acceptable speeds are always the ones that use hacks and shortcuts to get the job done.
It comes down to a tradeoff. Analyzing and recompiling or reinterpreting the code itself on a more abstract level will introduce errors, but it is a magnitude of order more efficient than simulating every part of the circuitry down to each cycle. This is why a relatively high level emulator of a 6th gen video game console has close system requirements to a cycle-accurate emulator of the SNES.
Now, I want to present an analogy here. If training neural networks for every damn thing and trying to blindly replicate an organic system is akin to accurately emulating every logic gate in a circuit, what are some shortcuts we could take?
It is commonly repeated that a human brain has immense computing power, but this assumption is based just on the amount of neurons observed, and it's likely that most of them probably have nothing to do with intelligence or consciousness. If we trim those, the estimated computing power would drop to a more reasonable level. In addition, our computers just aren't built for doing things like neural systems do. They're better at some things, and worse at others. If we can do something in a digital way instead of trying to simulate an analog circuit doing the same thing, that's more computing power that we could save, possibly bridging the gap way earlier than we expected to.
The most obvious way to handle this would be doing as many mundane processing and hardware control tasks as possible in an optimized, digital way, and then using a GPU or another kind of circuit altogether to handle the magical "frontal lobe" part, so to speak.
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>"I just guess, that there's a reason that motors with moving parts are being used for motion, not just stationary magnets or a coil gun." Most have gears to take the less powerful motor and trade speed of the motor for slower with more torque. The solenoid shuttling balls in the ball roller screw does the exact same but I'm guessing it would be lot easier to build in a garage. Also think of the cost of actuators if you have to have copper conductors the whole length of the motion. Expensive. I'm just throwing out ideas. I do not mind at all if people argue against them. On my part throwing out a lot of ideas means some of them will be stupid but...oh well. Such is the price for progress. I liked the Planetary roller screws here and was brain storming on how to make something that functioned like this without all the expensive gearing. Those gears must cost a fortune. I'm actually enamored of this stuff I posted here. Elastomor actuators. This stuff can even have logic computing elements built into it. WOW. Later down the thread I link to book on this stuff. The main problem with it is it doesn't pull it spreads out or pushes so some system would have to translate the motion into a pull. Possibly some sort of undulating motion could be used. Use that motion to make pumps with fluids that could circulate warm water to keep the temperature of the skin warm and provide muscle action. >=== -rm g_untd links
Edited last time by Chobitsu on 04/22/2021 (Thu) 11:43:54.
The links were messed up I referenced here they are again. Planetary roller screws >>9958 And I got the name wrong it's Dielectric Elastomers >>8502
>>10047 BTW, you should be able to delete your own posts to clean things up a bit Anon.
It wouldn't let me. Asked for another password???? It appears that it will only let you delete the very last post you made and not the one before it. If you would delete it I would appreciate it. Sorry for screwing it up. I think I figured out how link correctly now.
>>10051 No worries, done. It's not based on post recency (AFAICT), but is based on your IP. Your address probably changed since. Happens with Tor frequently, or with phoneposting from time to time. >I think I figured out how link correctly now. It's easy if you just click on the little post number at the end of a post's headline (if you have JS enabled). BTW, thanks Anon.

Safety & Security General Robowaifu Technician 04/20/2021 (Tue) 20:05:08 No.10000 [Reply]
This is just a place-holder for now, intended simply to steal the 10'000 get for this thread's OP if possible :^)

Python General Robowaifu Technician 09/12/2019 (Thu) 03:29:04 No.159 [Reply]
Python Resources general

Python is by far the most common scripting language for AI/Machine Learning/Deep Learning frameworks and libraries. Post info on using it effectively.

wiki.python.org/moin/BeginnersGuide
https://archive.is/v9PyD

On my Debian-based distro, here's how I set up Python, PIP, TensorFlow, and the Scikit-Learn stack for use with AI development:
sudo apt-get install python python-pip python-dev
python -m pip install --upgrade pip
pip install --user tensorflow numpy scipy scikit-learn matplotlib ipython jupyter pandas sympy nose


LiClipse is a good Python IDE choice, and there are a number of others.
www.liclipse.com/download.html
https://archive.is/glcCm
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>>9673 Great find, anon. This is incredibly useful. I had no idea about typeguard either that does run-time type checking.
>>9673 Thanks, Anon. Much appreciated.
Here's a thread on Reddit about a problem with random in Numpy and PyTorch: https://www.reddit.com/r/MachineLearning/comments/mocpgj/p_using_pytorch_numpy_a_bug_that_plagues - It's about setting seeds in the data loader when using Numpy's random number generator. A lot of people got it wrong and 100k+ tested projects on Github, 95% got it wrong. It's not a bug, but easy to overlook.
>>9950 Surprising something like that could go unnoticed so long. C++'s standard library has a generator that uses hardware entropy device if available (almost always is in past 10 years). I wonder if Python provides something similar.
>The secrets module is used for generating cryptographically strong random numbers suitable for managing data such as passwords, account authentication, security tokens, and related secrets. >In particular, secrets should be used in preference to the default pseudo-random number generator in the random module, which is designed for modelling and simulation, not security or cryptography. https://docs.python.org/3/library/secrets.html

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True Love Robowaifu Technician 09/11/2019 (Wed) 06:28:48 No.111 [Reply]
People who conduct serious work on robowaifus rather than posting anime: how are you going to make the experience (almost) equally or even more satisfying than the real loving relationship?

After digesting the Scientific Blackpill (https : //incels.wiki/w/Scientific_Blackpill) it's clear that robotic girlfriends are the way to go. There is one big problem: everybody craves the complete package which could fool the brain and _simultaneously_ fulfill all the needs related to sex, closeness, companionship, emotional support and social status. Escorts offering GFE don't give you the loving connection. Masturbation doesn't give you the postcoital bliss and satisfaction. Cuddle parties can't replace romance. Going out with friends is very different from proudly walking with your significant other. Visual, auditory, and tactile stimulation don't replace the scent of a woman or a feeling that there's somebody who can take care of you in difficult times. Most importantly - enjoying these things separately don't add up to the desired outcome. You still feel like you miss something important.

Many people claim that the major problem is the uncanny wall: it might always be possible to tell artificial from human, because as robots become more realistic, we will also become more sensitive and will always be able to tell that something is not right. Relevant paper:

https : //www.bolton.ac.uk/StaffBiographies/Angela-Tinwell/Tinwell-Grimshaw-Williams-2011-The-Uncanny-Wall.pdf

Can we even make a really meaningful progress in creating truly satisfying lovebots? Or should we give up and wait for the advanced brain-computer interfaces instead?

https://www.invidio.us/watch?v=9Sffdf9m2Ew
Edited last time by Chobitsu on 09/11/2019 (Wed) 07:17:46.
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- Studies on pets and the ability to bond and love - Behavior examples for bonding - e.g. bonding over food - Williams Syndrom - Also, the origin of elves https://youtu.be/aDVS8PlNM8M
>>9888 That was cute, literally Hitler Anon. Maybe /robowaifu/ should be about wuffgrills, rather than catgrills do you think? > Dog >>>>>>>>>> Cats
>>9890 OT: I prefer cats as pets, bc they require less work and attention. For someone mostly at home, at least.
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>>9888 >Also, the origin of elves. I'm afraid that's only part of the story anon. The real origin of elves goes much further back in history (real world history, not 'Middle Earth' history). The original elves come from Old Norse mythology (mainly Icelandic). Way, way before the notion of Christmas elves, J.R.R Tolkien or 'faeries/fairys', the ancient Proto-Germanic peoples (750BC) referred to the 'alßiz', which translates to 'white beings'. (As in ghostly, ethereal white, rather than Caucasian flesh 'white'). Over time, this term turned into the Old English word 'ælf', which is where we get names like 'Alfred' and 'Elgar' There some info on Wikipedia if you're interested - not that this makes it set-in-stone, mind you. It just sounds legit to me: https://en.wikipedia.org/wiki/Elf#Old_Norse_texts And the hypothesized word-root of 'elf' on Wiktionary: https://en.wiktionary.org/wiki/Reconstruction:Proto-Germanic/albiz I particularly like an idea written in the late thirteenth-century text 'South English Legendary' that describes elves as angels who sided neither with Lucifer nor with God during the War in Heaven, and were banished by God to Earth rather than Hell. But yes, Williams Syndrome is certainly related. Physicians, being well-read and intelligent people, may have seen such patients in the 17th/18th century and - having read about mythical elves from older texts - put two and two together. Sorry to go off on a tangent anon, but I'm a bit of a fan of Elven things.
>>9888 We would literally change the world for the better if we can just create AIs & relatively inexpensive robowaifu kits that can simply achieve the level of a good dog, relationship-wise. It will be nothing short of revolutionary if we can manage this.

Robot skeletons and armatures Robowaifu Technician 09/13/2019 (Fri) 11:26:51 No.200 [Reply] [Last]
What are the best designs and materials for creating a skeleton/framework for a mobile, life-sized gynoid robot?
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>>1944 More AniFée porn, also some friends.
I found some old posting of mine with links to some 3D files of the human skeleton, though it was male and I wanted to find if there's a female one now. However, I can't find the posting right now, so I can't link the results. Instead, I found a Japanes database for human anotomy: http://lifesciencedb.jp/bp3d/info_en/index.html and from there they link to the right search terms in Thingyverse: https://www.thingiverse.com/search?q=bodyparts3D&sa=&type=things&sort=relevant - Again, this might be mostly male parts but they can be used as inspiration. Just look up the differences between male and female somewhere and change your model accordingly. The other problem is, that such parts are often hard to orint with FDM. My idea is rather to use the 3D models to create simplified and feminized models which are also easier to print. The first is a list with links to download all the 3D models in obj, which might be much more, than on the second page, which seems to be a mirror for STL files on Thingyverse. I only had time to checked parts of it. http://down3dmodels.com/bodyparts3d-3-0-obj/ http://www.yeggi.com/q/bodyparts3d/?s=tt
>>9876 Thanks Anon, the effort is appreciated.
>related xpost (>>10121, >>10125)
>related xpost (>>10131 and following)

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