[cantagi]

I'm not a roboticist, but can the ability to do general purpose manipulation be built up from a universe of known simpler manipulation tasks using something a bit like transfer learning? Is this used? Are there methods that don't need this?

Also, what would a good interface between a Software 1.0 program and a Software 2.0 program look like in robot software? I mean, what would the boundary between (3) and (4), and (4) and (5) look like in this imaginary stack?:

  (5) Autonomous controller (software 2.0)
  (4) A high level interface for giving instructions to (3), and finding out what (5) is doing
  (3) Motor manipulation controller (software 2.0)
  (2) A daemon for converting NN outputs into safe hardware control outputs (software 1.0)
  (1) OS kernel (software 1.0)