The document discusses live robot programming, emphasizing its importance for reducing incidental complexity and allowing for an immediate connection between the programmer and the robot's behavior. It outlines the fundamentals of a live programming language designed for robots, including nested state machines and variables. The conclusions highlight the potential for radical speedup in programming efficiency and outline future work focused on language expressibility and modularity.

1. Live Robot
Programming
Johan Fabry,
Miguel Campusano, Pablo Estefó
Pleiad & RyCh labs
Computer Science Department (DCC)
Universidad de Chile

2. Two small stories

5. Software is
fundamental
5

7. Good Software
is fundamental
7

8. Software Engineering
8
Time
=
Money

9. Software Engineering
9
Time
=
Research

10. Software Engineering
10
Time
=
Brainpower

11. Software Engineering
11
Brainpower =
Problem complexity +
Technology complexity

12. What do we want?

13. Waste less time in
incidental complexity
13
Use time on
fundamental complexity

14. “But why is the robot executing this behavior now?”
Example
14
“What would happen if I change epsilon to 5 ?”
(What is the internal state of the algorithm)
(What are the correct parameters for the algorithm)

15. Spend brainpower on the
complexity of the task
15
Have an immediate
connection to the
behavior

16. Live Programming

17. Bret Victor - Inventing on Principle (CUSEC 2012)

18. Immediate Connection
18

19. Bret Victor - Inventing on Principle (CUSEC 2012)

20. Immediate Connection
20

21. Live Robot
Programming

22. Fundamentals
• Live Programming Language
• For the behavior layer of robots
• Nested State Machines
22

23. Machines, States
23

24. Immediate Connection
24

25. Variables, Actions
25
Demo time!

26. Immediate Connection
26

27. More about the language
in the paper
on the website.
http://pleiad.cl/LRP

28. 28
Conclusions
• Live Robot Programming: Yes you can!
• State machines are resilient
• Experience: radical speedup

29. Immediate Connection
29

30. Future Work
• Refactorings to avoid restarts
• Test expressibility of the language
• Modularity and reuse of behaviors

31. http://pleiad.cl/LRP

32. Active State
32

33. Active State
33

34. Immediate Connection
34