16.412J/6.834J COGNITIVE ROBOTICS
Schedule and Posted Lectures
MW 10:30
– 12:00 in 33418
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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, Modelbased 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. Kinodynamic 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, Visionbased localization. 

Deducing State and Diagnosing
Failure 

W 16 Feb 
(5) Modelbased Diagnosis & Mode Estimation 
Consistencybased 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 ConflictLearning 


Reasoning About Soft Constraints 


W 23 Feb 
(7) Soft Constraint Satisfaction Problems (SCSPs) (Guest: Martin Sachenbacher) 
Valued constraint satisfaction problems (VCSPs), branchandbound 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) Missionlevel Task Planning 
Partial Order Planning, Constraintbased 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 Modelbased Reactive Planning 
Universal Planning, Structure Decomposition for Modelbased 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 
Modelbased, MultiAgent 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) 
AlphaBeta 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 Constraintbased HMMs, 

M 11 Apr 
Particle Filters and their Applications (Kaijen Hsiao, Jason Miller, Henry Lefebvre de PlinvalSalgues) 
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, MonteCarlo 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), Tasklevel control using modelbased
executives, Wholebody control 

Human – Robot Interaction 

M 2 May 
(17) Working with and Learning from Humans as Partners (Guest: Cynthia Breazeal) 
Multimodal communication, humanrobot teamwork, socially guided learning 

W 4 May 
(18) Nursebot: dialogue as a decision making process (Guest: Nick Roy) 
Modelbased 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) 
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