16.412J/6.834J COGNITIVE ROBOTICS
Schedule and Posted Lectures
MW 10:30
– 12:00 in 33-418
Home | Lectures | Readings | Project Suggested Readings | Advanced Lectures | Final Projects
Lecture notes hyperlinked to lecture title on date
given.
Problem set hyperlinked to problem set name on
date out.
|
Topics |
Handouts |
|
W 2 Feb |
(1) Introduction to Cognitive Robotics | Learning Objectives, Remote Explorers, Model-based Programming |
|
Robots that Deftly Navigate |
|
||
M 7 Feb |
(2) Kinodynamic and Randomized Path Planning |
Review of Configuration spaces, Visibility graphs, Voronoi diagrams, Potential fields, and Cell decomposition. Kino-dynamic planning, planning with moving obstacles, probabilistic roadmaps (PRMs), rapidly exploring random trees (RRTs) |
Lecture Notes |
W 9 Feb |
(3) Introduction to Simultaneous Localization and Mapping (SLAM) (Guest: Paul Robertson) |
Localization, SLAM, Kalman Filter, Large Scale SLAM |
|
M 14 Feb |
(4) Vision Based SLAM (Guest: Paul Robertson) |
Topological Maps, Hidden Markov Models (HMM), SIFT, Vision-based localization. |
|
Deducing State and Diagnosing
Failure |
|||
W 16 Feb |
(5) Model-based Diagnosis & Mode Estimation |
Consistency-based diagnosis: candidates, conflicts, diagnoses, and
kernel diagnoses. conflict extraction and candidate generation, mode estimation
and probabilistic diagnosis, active probing. |
|
T Feb 22 |
(6) Solving Optimal CSPs Through Conflict-Learning |
|
|
Reasoning About Soft Constraints |
|
||
W 23 Feb |
(7) Soft Constraint Satisfaction Problems (SCSPs) (Guest: Martin Sachenbacher) |
Valued constraint satisfaction problems (VCSPs), branch-and-bound search for soft constraints, variable elimination for soft constraints, tree decomposition, dynamic programming. |
|
M 28 Feb |
(8) Solving CSPs and SCSPS via Decomposition & Abstraction (Guest: Martin Sachenbacher) |
Reduced ordered binary decision diagrams (ROBDDs), representing and manipulating soft constraints using algebraic decision diagrams (ADDs). |
|
Planning Complex Missions |
|||
W 2 Mar |
(9) Mission-level Task Planning |
Partial Order Planning, Constraint-based Interval Planning, and Simple
Temporal Networks (STNs) |
|
M 7 Mar |
(10) Dynamic Plan Execution Under Uncertainty |
STNS, Dispatchable Networks and Dispatching Execution, STNUs, Strong
and Dynamic Controllability. |
|
W 9 Mar |
(11) Mixed Human Robotic Exploration (Guest: Jeff Hoffman (Astronaut)) |
||
Robots that Plan on the Fly |
|||
M 14 Mar |
(12) Hidden State and Model-based Reactive Planning |
Universal Planning, Structure Decomposition for Model-based Reactive
Planning (MRP), Binary Decision Diagrams, Symbolic MRP. |
|
W 16 Mar |
(13) Continuous, Incremental Path Planning and Exploration |
Single source shortest path, D*, LRTA* |
|
******* SPRING BREAK ******* |
|||
M 28 Mar |
Planning with POMDPs (Brian Bairstow, Tony Jimenez, Larry Bush) |
An introduction to the fundamentals of POMDPs, state of the art in
POMDP research, a pedagogical explanation of the respective algorithm. |
|
W 30 Mar |
Model-based, Multi-Agent Reasoning in Texas Holdem Poker (Brian Edward Mihok, Michael Terry) |
Leading techniques in games reasoning, emphasis on uncertainty techniques. Hidden Markov Models and Bayesian Inference, neural networks. |
|
M 4 Apr |
Cognitive Game Theory (Justin Fox, Jeremie Pouly, and Jennifer Novosad) |
Alpha-Beta and Its Extensions; An Evolutionary Algorithm Applied to Chess; Inductive Adversary Modeler |
|
W 6 Apr |
Mode Estimation for Hybrid Discrete/Continuous Systems (Lars Blackmore) |
Trajectory Tracking for Constraint-based HMMs, |
|
M 11 Apr |
Particle Filters and their Applications (Kaijen Hsiao, Jason Miller, Henry Lefebvre de Plinval-Salgues) |
Particle filters in SLAM, in Fault Diagnosis |
|
W 13 Apr |
Hello Computer? (Shuonan Dong, Shen Qu, Thomas Coffee) |
SharedPlan, Plan Recognition, and COLLAGEN |
|
W 20 Apr |
Advanced Topics in Bayesian Networks (Tom Temple, Ethan Howe, and James Lenfestey) |
Intro, Dynamic Bayes Networks, Exact inference, |
|
Sensing and Manipulating at
the Cognitive Level |
|||
M 25 Apr |
(15) Visual Interpretation using Probabilistic Grammars (Guest: Paul Robertson) |
Statistical Parsing, Image Segmentation, Monte-Carlo Methods, Language Learning |
|
W 27 Apr |
Safe Execution of Bipedal Walking Tasks (Andreas Hoffman) |
Motivation and requirements, Bipedal balance control strategies, Common
control approaches (and their failings), Task-level control using model-based
executives, Whole-body control |
|
Human – Robot Interaction |
|||
M 2 May |
(17) Working with and Learning from Humans as Partners (Guest: Cynthia Breazeal) |
Multi-modal communication, human-robot teamwork, socially guided learning |
|
W 4 May |
(18) Nursebot: dialogue as a decision making process (Guest: Nick Roy) |
Model-based dialog management, hierarchical planning under uncertainty,
reinforcement learning for human interaction |
|
W 9 May |
Project Demonstrations (15 Min. student presentation) |
||
W 11 May |
Project Demonstrations (15 Min. student presentation) |
Home | Lectures | Readings | Project Suggested Readings | Advanced Lectures | Final Projects