16.412J/6.834J COGNITIVE ROBOTICS

Required Readings for Lectures

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Note: AIMA is short for the course text, Artificial Intelligence: A Modern Approach, (2nd edition) by Stuart Russell and Peter Norvig.

W Feb 2: Introduction to Cognitive Robotics & M Feb 7: Kinodynamic and Randomized Path Planning

"Remote Agent: To Boldly Go Where No AI System Has Gone Before." N. Muscettola, P. Nayak, B. Pell, B. Williams, Artificial Intelligence 103 (1998) 5-47.

"Path Planning Using Lazy PRM." , Bohlin, R., and L. Kavraki, Intl. Conf. on Robotics and Automation (ICRA) (2000).

"Randomized Kinodynamic Motion Planning with Moving Obstacles.", Hsu, D., R. Kindel, J.C. Latombe, and S. Rock, Fourth International Workshop on Algorithmic Foundations of Robotics, 2000.

"Rapidly-Exploring Random Trees: A New Tool for Path Planning.", LaValle, Steven M., Technical Report No. 98-11, Dept. of Computer Science, Iowa State University, Oct. 1998.

W Feb 9: Introduction to SLAM

"Consistent, Convergent, and Constant-Time SLAM." J. Leonard and P. Newman, 18th International Joint Conference on Artificial Intelligence (Acapulco, August 2003).

"DP-SLAM: Fast, Robust Simultaneous Localization and Mapping Without Predetermined Landmarks." Austin Eliazar and Ronald Parr, 18th International Joint Conference on Artificial Intelligence (Acapulco, August 2003).

W Feb 15: Fault Aware Systems: Model-based Programming and Diagnosis

"Characterizing Diagnoses and Systems", Johan De Kleer, Alan K Mackworth and Raymond Reiter, Artificial Intelligence 56(1992). (N.B. Not available online. Copies are available in rm 33-336)

T Feb 22: Solving Optimal CSPs Through Conflict-Learning

Conflict-directed A* and its Role in Model-based Embedded Systems."Brian C. Williams, and Robert Ragno. To appear in the Special Issue on Theory and Applications of Satisfiability Testing, accepted in Journal of Discrete Applied Math (January 2003).

 

W Feb 23: Soft Constraint Processing

"Valued Constraint Satisfaction Problems: Hard and easy problems", JT. Schiex, H. Fargier, and G. Verfaillie, Proceedings of the International Joint Conference in AI (IJCAI-95), Montreal, Canada, 1995

"Constraint Processing", Chapter 9 (Tree Decomposition Methods) and Chapter 13 (Constraint Optimization), Rina Dechter, Morgan Kaufmann Publishers, 2003. (N.B. Not available online. Copies available in rm 33-336)

 

M Feb 28: Symbolic Encoding using Decision Diagrams

"Graph-Based Algorithms for Boolean Function Manipulation", Randal E. Bryant, IEEE Transactions on Computers, Vol. C-35, No. 8, 1986, pp. 677-691.

"Algebraic decision diagrams and their applications." R. I. Bahar, E. A. Frohm, C. M. Gaona, G. D. Hachtel, E. Macii, A. Pardo, and F. Somenzi: Proceedings of the International Conference on Computer-Aided Design, pages 188-191, 1993.

W Mar 2: Mission-level Task Planning

"Bridging the Gap between Planning and Scheduling." David E. Smith, Jeremy Frank, and Ari Jonsson. Knowledge Engineering Review, 15 (1), 2000.

"Executing Reactive, Model-based Programs through Graph-based Temporal Planning." P. Kim, B. Williams, and M. Abramson, IJCAI 2001 (487-493).

"Strategies for Global Optimization of Temporal Preferences", P Morris, R Morris, Lina Khatib, Salesh Ramikrishnan, Andrew Bachmann

 

M Mar 7: Dynamic Plan Execution Under Uncertainty

 "Temporal Constraint Networks", R. Dechter, I. Meiri, and J. Pearl, Artificial Intelligence (1991).

 "Reformulating Temporal Plans for Efficient Execution", N. Muscettola, P. Morris, and I. Tsamardinos

M Mar 14: Hidden State and Model-based Reactive Planning

"A Reactive Planner for a Model-based Executive", Ingham, Ragno & Williams

W Mar 16: Continuous, Incremental Path Planning and Exploration

"Incremental A*." S. Koenig and M. Likhachev, Advances in Neural Information Processing Systems 14 (NIPS), MIT Press, Cambridge, MA, 2002.

"Optimal and Efficient Path Planning for Partially-Known Environments." A. Stentz, Proceedings IEEE International Conference on Robotics and Automation, May 1994.

 

M Mar 28: Planning with POMDPS (Bairstow, Bush, Jiminez)

"Approximate Planning in POMDPS with Macro-Actions," Georgios Theocharous and Leslie Pack Kaelbling, Advances in Neural Information Processing Systems 16, Vancouver, 2004 (NIPS-03).

``Finding Approximate POMDP solutions Through Belief Compression''. N. Roy, G. Gordon and S. Thrun. Journal of Artificial Intelligence
Research
, 23: 1-40, 2005.

PhD Thesis: Finding Approximate POMDP Solutions Through Belief Compression, N. Roy, Robotics Institute, Carnegie Mellon University, 2003.

Artificial Intelligence: A Modern Approach (Second Edition), , Stuart Russell and Peter Norvig,, Prentice Hall, 2002

``Planning and Acting in Partially Observable Stochastic Domains,'' Leslie Pack Kaelbling, Michael L. Littman and Anthony R. Cassandra, Artificial Intelligence, Vol. 101, 1998.

Introduction to Operations Research (Fourth Edition), , Hiller and Lieberman, Holden-Day, Inc., 1986

Reinforcement Learning Algorithm for Partially Observable Markov Decision Problems, Jaakkola, T., Singh, S., and Jordan, M. Advances In Neural Information Processing Systems, MIT Press, 1995.

Representing hierarchical POMDPs as DBNs for multi-scale robot localization, Georgios Theocharous, Kevin Murphy, and
Leslie Pack Kaelbling, International Conference on Robotics and Automation, 2004.

 

W Mar 30: Model-based, Multi-Agent Reasoning in Texas Holdem Poker (Mihok, Terry)

"A tutorial on Hidden Markov Models and selected applications in speech recognition", L. R. Rabiner. Proceedings of the IEEE, 77(2):257--286, 1989.

"Learning bayes network structure from massive datasets: The "sparse candidate" algorithm", Friedman, N., Nachman, I., & Pe'er, D. (1999), UAI 15 (p. 206:215).

A comparison of statistical learning methods on the GUSTO database., Ennis M, Hinton G, Naylor D, Revow M, Tibshirani R., Stat Med. 1998; 17 (21): 2501-2508.

Tutorial on Bayes Nets, Andrew Moore.

. Machine Learning for Sequential Data: A Review. Dietterich, T. G. (2002). In T. Caelli (Ed.) Structural, Syntactic, and Statistical Pattern Recognition; Lecture Notes in Computer Science, Vol. 2396. (pp. 15-30). Springer-Verlag.

"What HMMs Can Do", Bilmes, Jeff, UWEE Technical Report Number UWEETR-2002-0003. January 2002.

 

M Apr 4: Cognitive Game Theory (Fox, Pouly, Novosad)

Gross, R. K. Albrecht, W. Kantschik, W. Banzhaf. Evolving Chess Playing Programs. Proceedings of the Genetic and Evolutionary Computation Conference. 2002.

Walczak, Steven. Knowledge-Based Search in Competitive Domains. IEEE Transactions on Knowledge and Data Engineering, Vol. 15, No. 3, May/June 2003.

Banzhaf, W., P. Nordin, R.E. Keller, and F.D. Francone. "Genetic Programming An Introduction On The Automatic Evolution of Computer Programs and its Applications". 1998.

Schaeffer, J. "The History Heuristic and Alpha-Beta Search Enhancements in Practice.", IEEE Transactions on Pattern Analysis and Machine Intelligence, 11(11):1203-1212, 1989.

Schwefel, H. P. "Evolution and Optimum Seeking". John Wiley and Sons, Inc., 1996.

Walczak, Steven. "Improving Opening Book Performance Through Modeling of Chess Opponents", ACM o-89791-828-2/96/02. Philadelphia PA 1996.

 

M 11 Apr: Particle Filters and their Applications (Hsiao, Miller, Lefebvre de Plinval-Salgues)

Verma, Vandi, Geoff Gordon, Reid Simmons, and Sebastian Thrun. "Particle Filters for Rover Fault Diagnosis," IEEE Robotics & Automation Magazine special issue on Human Centered Robotics and Dependability, June 2004.

Thrun, Sebastian. "A Probabilistic Online Mapping Algorithm for Teams of Mobile Robots," International Journal of Robotics Research, Vol. 20, 2001.

Montemerlo, Michael, Sebastian Thrun, Daphne Koller, and Ben Wegbreit. "FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem," Proceedings of the AAAI National Conference on Artificial Intelligence, 2002.

Stachniss, Cyrill, Giorgio Grisetti, and Wolfram Burgard. "Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for SLAM After Actively Closing Loops." Proceedings of the IEEE International Conference on Robotics and Automation, 2005.

Sebastian Thrun, John Langford, and Vandi Verma. "Risk Sensitive Particle Filters," Proceedings of Neural Information Processing Systems (NIPS), December, 2001.

Richard Dearden, Frank Hutter, Reid Simmons, Sebastian Thrun, Vandi Verma, and Thomas Willeke. "Real- time Fault Detection and Situational Awareness for Rovers: Report on the Mars Technology Program Task," To appear in the Proceedings of IEEE Aerospace Conference, March 2004.

 

 

W 13 Apr: Human-Robot Interaction: Goal Recognition (Dong, Qu, Coffee)

Nate Blaylock and James Allen. "Statistical goal parameter recognition". 14th International Conference on Automated Planning and Scheduling (ICAPS'04), Whistler, British Columbia, June 3-7 2004

Nate Blaylock and James Allen. "Corpus-based, statistical goal recognition". Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence (IJCAI-2003), pages 1303-1308, Acapulco, Mexico, August 9-15 2003.

Rich, C.; Sidner, C.L., "COLLAGEN: A Collaboration Manager for Software Interface Agents", An International Journal: User Modeling and User-Adapted Interaction, Vol. 8, Issue 3/4, pps 315-350, 1998

N. Lesh, C. Rich, Charles and C. Sidner. "Using Plan Recognition in Human-Computer Collaboration." in Proceedings of the Seventh Int. Conf. on User Modelling, Banff, Canada, July 1999.

Barbara Grosz and Sarit Kraus. 1999. "The Evolution of SharedPlans." In Foundations and Theories of Rational Agencies, A. Rao and M. Wooldridge, eds. pp. 227-262.

W 20 Apr: Advanced Topics in Bayesian Networks (Temple, Howe, Lenfestey)

Learning Dynamic Bayesian Networks. Ghahramani.

Learning Probabilistic Relational Models. Friedman, Getoor, Koller, Pfeffer

"Artifical Intelligence, A Modern Approach". Russell and Norvig.

Chapter 14: Intro to Bayesian networks. Probabilistic inference. PRM primer.
Chapter 15: Temporal Bayesian models. HMMs and DBNs.

"Learning Bayesian Networks from Incomplete Data with Stochastic Search Algorithms". Myers, Laskey, Levitt

"Dynamic Probabilistic Relational Models". Sanghai, Domingos, Weld.

"Speech Recognition with Dynamic Bayesian Networks"

 

W 27 Apr: Safe Execution of Bipedal Walking Tasks

"A Sliding Controller for Bipedal Balancing Using Integrated Movement of Contact and Non-Contact Limbs", Hofmann, A. G., Popovic, M. B., Herr, H. M., IROS 2004

"Angular Momentum Regulation During Human Walking", Popovic, M. B., Hofmann, A. G., Herr, H. M., ICRA 2004

M May 2: Working with and Learning from Humans as Partners (Guest Cynthia Breazeal)

"Tutelage and Socially Guided Robot Learning.", A. Lockerd and C. Breazeal (2004), Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS04), Sendai, Japan.

"Working Collaboratively with Humanoid Robots."C. Breazeal, A. Brooks, D. Chilongo, J. Gray, G. Hoffman, C. Kidd, H. Lee, J. Lieberman, A. Lockerd (2004), Proceedings of Humanoids 2004, Los Angeles, CA.

W May 4: Nursebot: dialogue as a decision making process

"Towards robotic assistants in nursing homes: challenges and results", J. Pineau, M. Montemerlo, M. Pollack, N. Roy and S. Thrun, Robotics and Autonomous Systems, Volume 42, Issues 3-4, 31 March 2003, pages 271-281.

"Optimizing Dialogue Management with Reinforcement Learning: Experiments with the NJFun System", Satinder Singh, Diane Litman, Michael Kearns and Marilyn Walker, Journal of Artificial Intelligence Research (JAIR), Volume 16, pages 105-133, 2002.

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