I<tab-complete> welcome our new robot overlords.

Hoisted from a recent email exchange with my friend Gordon Shippey:

Re: Whassap?
Gordon:
Sounds like a plan.
(That was an actual GMail suggested response. Grumble-grumble AI takeover.)

Anthony:
I<tab-complete> welcome our new robot overlords.

I am constantly amazed by the new autocomplete. While, anecdotally, autocorrect of spell checking is getting worse and worse (I blame the nearly-universal phenomenon of U-shaped development, where a system trying to learn new generalizations gets worse before it gets better), I have written near-complete emails to friends and colleagues with Gmail’s suggested responses, and when writing texts to my wife, it knows our shorthand!

One way of doing this back in the day were Markov chain text models, where we learn predictions of what patterns are likely to follow each other; so if I write “love you too boo boo” to my wife enough times, it can predict “boo boo” will follow “love you too” and provide it as a completion. More modern systems use recurrent neural networks to learn richer sets of features with stateful information carried down the chain, enabling modern systems to capture subtler relationships and get better results, as described in the great article  “The Unreasonable Effectiveness of Recurrent Neural Networks“.

-the<tab-complete> Centaur

 

Back to the Cone of Shame

Well, Gabby had his stitches out and his collar off for all of twelve hours before we were back in the emergency room. He was cleared for activity, but then re-opened the wound.

The lesson: I should have said something. I knew we were taking the stitches out and returning him to activity too soon; they doctor gave us a window of 10-14 days, but the technician scheduled us for a 10-day return. That day, I was a bit iffy about the stitches, but they went ahead and removed them. I clarified: is he ready for activity? Can he go out? They said yes.

Well, they were wrong, and I should have said something at the day of the original appointment scheduling, at least putting it off until Monday. Failing that, I should have said something before the stitches came out. Failing that, I should have used my own discretion and left the collar on for a few more days.

Failing that, I failed my cat.

The late-night emergency doc didn’t think the cut had reopened the underlying wound and that it didn’t warrant stitches … but it looks worse today. I kept him inside overnight and today; let’s see how he’s doing and whether I should exercise my discretion and take him back in.

-the Centaur

Pictured: Cancer cat, abscess cat, aka Lenora and Gabby.

PRM-RL Won a Best Paper Award at ICRA!

So, this happened! Our team’s paper on “PRM-RL” – a way to teach robots to navigate their worlds which combines human-designed algorithms that use roadmaps with deep-learned algorithms to control the robot itself – won a best paper award at the ICRA robotics conference!

I talked a little bit about how PRM-RL works in the post “Learning to Drive … by Learning Where You Can Drive“, so I won’t go over the whole spiel here – but the basic idea is that we’ve gotten good at teaching robots to control themselves using a technique called deep reinforcement learning (the RL in PRM-RL) that trains them in simulation, but it’s hard to extend this approach to long-range navigation problems in the real world; we overcome this barrier by using a more traditional robotic approach, probabilistic roadmaps (the PRM in PRM-RL), which build maps of where the robot can drive using point to point connections; we combine these maps with the robot simulator and, boom, we have a map of where the robot thinks it can successfully drive.

We were cited not just for this technique, but for testing it extensively in simulation and on two different kinds of robots. I want to thank everyone on the team – especially Sandra Faust for her background in PRMs and for taking point on the idea (and doing all the quadrotor work with Lydia Tapia), for Oscar Ramirez and Marek Fiser for their work on our reinforcement learning framework and simulator, for Kenneth Oslund for his heroic last-minute push to collect the indoor robot navigation data, and to our manager James for his guidance, contributions to the paper and support of our navigation work.

Woohoo! Thanks again everyone!

-the Centaur

Viiictory the Twentieth!

Hail, fellow adventurers! And now you know why you haven’t heard from me for a while: I was heads down finishing my wordcount for Camp Nanowrimo! And this is a very special one, because it marks the twentieth time I have won a National Novel Writing Month style challenge to write 50,000 words of a novel in a month! Woohoo! When I started, I never thought I’d finish this many!

This was a difficult month for it. Sure, I just finished early, but that final push involved locking me in a downstairs room with my laptop until I finished so I could enjoy the rest of my vacation with my wife. And the push up to this point has been hard: my wife returning from vacation, with me scrambling to finish a spring cleaning gone awry before she got home. A cat being treated for cancer. An organization I’m volunteering with had an emergency that involved multiple meetings over the month. Major shifts and dustups at work. Robots, on the loose, being chased down the corridors. Ok, that last one isn’t real. Well, actually, it was, but it was much, much, much more prosaic than it sounds.

The upshot, seen above, is blood on the water (behind on my wordcount) for most of the month. And with the very last weekend of the month being my long-planned vacation in Monterey with my wife before she flies out on her next business trip, there was a very real danger that I wouldn’t make it. But my wife is awesome, and tolerated me taking out this first evening to do a massive push to get all my words done!

And now, sleep. But first, an excerpt:

“The Ere Mother is … not the most dangerous enemy I’ve ever faced,” I says. “Actually, she doesn’t rate really highly compared to the thing we found in the Vault of Nightmares, which was the real source of the magic that tried to burn down this city, Lady Scara—not me. But the Ere Mother is terribly dangerous, that I admit, Magus Meredith, Elder Jackson-Monarch. She’s terribly dangerous. But I did not ‘unleash’ her on the city. I went where my leadership told me to go and did what they told me to do, and the bottom dropped out under me. Yes, she came to life when I fell into the chambers of her court, but I strongly doubt that she was brought to life by a magic tiger butt. As unstable as that structure was—and it was still subsiding from time to time—the Ere Mother could have been unleashed at anytime, and we’d know even less about her than we do because I was down there investigatin’—as you all asked me to.”

I stands there, quietly.

“OH!” I says. “Um, yeah. That’s … that’s my report.”

“Well,” Mom says. “Thank you, First Mage, for your testimony—”

“Chair Frost?” Meredith says, raising his hand politely. “Are questions allowed?”

Mom blinks. “Always, as long as we maintain order. You have the floor.”

“Shoot,” I says. “Not literally—”

“How do you know the structure was still subsiding?” asked Meredith.

I stares at him. The hair rises on the back of my head. I thinks very, very fast.

“I heard it from the remaining member of the Dire Court,” I says. “A fox changeling, er, proto-fox changeling, at least I assume it was a changeling—er, anyway, we spoke, briefly, before the Ere Mother attacked. He mentioned a subsidence that, um.”

“Yes?” Meredith says, eyes gleaming.

“That, ah, uncovered his eye, so he wasn’t stuck in the dark anymore,” I says quietly. Meredith’s face falls, with true horror. “There was light down there, from runes. But after the Ere Mother’s attack … I don’t think there’s anything left of the fox fae anymore.”

“That’s … horrible,” Meredith says. “Do you remember what else you spoke about?”

“I will try to reconstruct a transcript. Mostly, he said shit like, ‘Oh, God’, and ‘Don’t hurt me.’” Somebody laughs, and I idly turns towards them and says, “Hey, I was pretty scared. You wanna be pretty scared to, I can always Change into what I looked like down there.”

“Cinnamon Stray Foundling Frost,” Mom says sternly, “if you eat anyone at this Council, you’re grounded!”

“Yes, Mom,” I says.

Ah, Cinnamon. You and your wacky hijinks with ancient faerie changelings!

Now … zzzzz…

-the Centaur

On Her Way Out

In theory, mast cell tumors of the skin don’t kill cats, at least not directly. They can lead to lesions that can’t heal and further infections, but its MCT of the spleen or gastrointestinal tract that are really dangerous.

For Lenora, our precious little wimp cat, this cancer is aggressive enough that we may need to take proactive steps. She’s gone from one lump to 10 to 30 to 40 to 50 to 70, with a brief dip back to 40 after her surgery to remove her spleen … but now the MCT has exploded, going from 80 to 100 to probably hundreds at this point, many of them showing lesions and scabs.

The first two combinations of cancer treatments failed; this one does not seem to be having an effect. Lenora is still active, but she no longer wants to spend time indoors, instead choosing to find high spots on the exterior podium or the fence. I think she thinks fleas are eating her alive.

I fear she’s on her way out. I’d love to say “I know” but everything I’ve learned over the years tells me (a) you don’t really know and (b) foreclosing an opportunity in your mind is a precursor to getting it foreclosed in real life. We sometimes like to think that we’re tough minded people making hard decisions in the face of difficult circumstances, but if you’re that guy or gal, I have bad news for you: you’re selling yourself a line of bullshit.

Far too often we get tired of dealing with something and choose to perceive it as hopeless, then take all the bad decisions we need to in order to make the bad outcome we’ve decided upon happen, then telling ourselves “there’s nothing else we could have done.” This is particularly common with cars: cars rarely die until we decide to kill them by not maintaining them. It’s even more common with politics: the other guy’s plan rarely fails on its own until we take steps to sabotage it, just so we can then say “we told you so.”

With your health, or the health of a loved one, what does this translate into? Never give up. Stephen Hawking lasted something like five decades after his doctors told him he’d likely be dead, and he didn’t last that long by crawling into a bed and not fighting every step of the way. Sometimes heroic measures are not called for, but just giving up hope will make things far worse far faster.

So we’re here for you, Lenora, even if you’re on your way out.

Have a scritchy behind the ear. Yes. There you go.

-the Centaur

The Saturday Currents, OR: Why Care?

I prefer pictures of food to pictures of myself, but, since my phone stopped charging and started shocking people (along with emitting a lovely BURNING smell) you get old stock footage or Photo Booth for the time being.

And now, the currents:

  • Currently Reading: Merida, Chasing Magic (because I want to understand children’s books better, and I like the drawing of Merida’s awesome red hair which is an inspiration for my drawings of Serendipity) and The Cognitive Neurosciences, Fifth Edition (because I am working on a project on the engineering applications of consciousness research, and research on the neural correlates of consciousness has exploded in the last twenty years).
  • Currently Rereading: The New Testament: A Historical Introduction to the Early Christian Writings (because Lent), Planning Algorithms by Lavalle and Reinforcement Learning by Sutton and Barto (because my robot navigation research is heating up and I want to understand the connections of reinforcement learning and classical planning, both of which have related but different ideas of value iteration; also because I’m planning on coding a small toy DQN to help me better understand the larger machinery I use at work).
  • Currently Dreading: Finishing my taxes, and finishing my edits on Shattered Sky by David Colby. Both so late! Sorry.
  • Currently Missing: My wife, on a business trip; my cats, at home waiting for me to finish up lunch, shift gears, and go home to go through The Tax Pile.

Why do these things matter? Why should you care? I know some people could care less about the incessant Facebook updates by people saying where they are and what they are doing. Some people I know even call sharing updates humblebragging as a way of shitshaming people into shutting up. (Hey guys! You know who you are. Message from me to you: Fuck off, kthanksbai.)

Not me. I like seeing people say what they’re up to; I like the birthday wishes on Facebook or the posts by famous writers saying, “ugh, I can has no brain today, here is a picture of a cat”. I still remember after my Aunt Kitty died sharing on Facebook my last picture of her, and all the people I knew who showed up at the funeral only because I had posted it.

It’s human and natural to share with each other what we are doing. It lets each of us know that we aren’t alone dealing with the good or bad. If status updates aren’t the thing you’re into, get off Facebook or Twitter. There’s nothing wrong with that: I know many people have done it and have felt better for doing so.

For me, there are so many people I only stay connected to because we have that instant means of connection. And (ssh: between you and me) there’s always my ulterior motive: the more I write, the better I get at writing, and the more I discover and perfect my own voice. And just about everyone I know who does that just gets more interesting the longer that they do it.

That’s why I’m currently … blogging.

Hit save, then publish.

-the Centaur

Just Checking in on the Currents

SO! Hey! GDC and Clockwork Alchemy are over and I’m not dead! (A joke which actually I don’t find that funny given the circumstances, which I’ll dig into in just a moment). Strangely enough, hitting two back-to-back conferences, both of which you participate super heavily in, can take something out of your blog. Who knew?

But I need to get better at blogging, so I thought I’d try something new: a “check-in” in which I try to hit all the same points each time – what am I currently writing, editing, programming, etc? For example, I am currently:

  • Listening To: Tomb Raider soundtrack (the original).
  • Reading: Theoretical Neuroscience (book).
  • Writing: “Death is a Game for the Young”, a novella in the Jeremiah Willstone multiverse.
  • Editing: SPECTRAL IRON, Dakota Frost #4.
  • Reviewing: SHATTERED SKY, Lunar Cycle #2 by David Colby.
  • Researching: Neural Approaches to Universal Subgoaling.
  • Programming: A toy DQN (Deep Q Network) to stretch my knowledge.
  • Drawing: Steampunk girls with goggles.
  • Planning: Camp Nanowrimo for April, ROOT USER, Cinnamon Frost #3.
  • Taking on: Giving up alcohol for Lent.
  • Dragging on: Doing my taxes.
  • Spring Cleaning: The side office.
  • Trying to Ignore: The huge pile of blogposts left over from GDC and CA.
  • Caring For: My cat Lenora, suffering from cancer.
  • Waiting For: My wife Sandi, returning from a business trip.

Whew, that’s a lot, and I don’t even think I got them all. Maybe I won’t try to write all of the same “currents” every time, but it was a useful exercise in “find something to blog about without immediately turning it into a huge project.”

But the biggest “current” in my mind is the person I am currently worried about, my good friend and great Game AI developer Dave Mark. Dave is the founder of the GDC AI Summit … but was struck by a car leaving the last sessions at GDC, and still is in the hospital, seriously injured.

More in a moment.

-the Centaur

Pictured: Butterysmooooth sashimi at Izakaya Ginji in San Mateo from a few days ago, along with my “Currently Reading” book Theoretical Neuroscience open to the Linear Algebra appendix, when I was “Currently Researching” some technical details of the vector notation of quadratic forms by going through stacks and stacks of books, a question which would have been answered more easily if I had started by looking at the entry for quadratic forms in Wolfram’s MathWorld, had I only known at the start of my search that that was the name for math terms like xWx.

The Cats You Save … and the Cats You Make Comfortable

SO RECENTLY I had a very vivid dream in which my veterinarian said to me “There are some cats you save … and some you make comfortable.” I think the context behind that dream is worth a little unpacking, don’t you?

Loki the Loquacious is a cat that we saved. I came home one day to find him yowling and lethargic, sensitive to the touch yet unwilling to move, with a bloated feeling to the touch, and after a brief search online we rushed him to the nearby animal hospital who quickly diagnosed him with a urinary tract blockage, put him on a catheter, and nursed him back to health.

Now, he hates the urinary tract pet food we feed him and the occasional water droppers when he’s not drinking, but unless this outdoor cat gets too adventurous, he’s probably got a long life ahead of him.

Caesar the Conqueror is a cat that we made comfortable. He’d been made frail by a long battle with a thyroid condition when he decided to start peeing inappropriately indoors, so we had to make him an outdoors cat; but we were able to set up a relatively nice outdoor area for him. But then some nasal obstruction began interfering with his breathing, and he ultimately wheezed himself to death.

We kept him comfortable, of course, until he took a rapid turn downhill, and then we had him peacefully put to sleep in my arms.

As for Lenora the Cat … the jury is still out.

She’s a healthy-looking, happy-looking, active cat, and even though she from time to time got pencil-eraser sized moles, and once even a larger lump on a back leg, they were always benign … until a month ago. Then a new mole appeared, and another, and another, until she had dozens of the tiny, not-itchy, not-bleeding, not-discolored bumps all over her body. We took her to the doctor, who found two more walnut-sized lumps in her abdomen; biopsies revealed these to be mast cell tumors (MCT or mastocytoma).

Our doctor’s recommended regimen – a cortisone shot, followed by predisone and possibly other medications – tracks with what I’ve been able to research. Cortisone and similar drugs are recommended, and sometimes even can cure it, especially if it’s on the skin; but prognosis for lumps in the internals are more guarded – and she’s gotten another lump since the biopsy.

So now we’re researching, weighing the options of continuing treatment vs seeing an oncologist now (our vet is of the opinion that we’d have to wait a few weeks for an oncologist to get good readings on bloodwork because of the cortisone shot, but if I was an oncologist I’d want to see that third lump right now). Cats with this condition can last three years with surgery, a year with palliative care … or can die within weeks if it’s serious.

We don’t yet know if Lenora’s a cat we must make comfortable … or that we can save.

Here’s hoping.

-The Centaur