| 1 |
Introduction to Cognitive Robotics
Learning Objectives, Remote Explorers, Model-based Programming |
Students fill out sign-up sheet and review candidate lectures |
| Robots that Deftly Navigate |
| 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) |
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| 3 |
Introduction to Simultaneous Localization and Mapping (SLAM) (Guest: Paul Robertson)
Localization, SLAM, Kalman Filter, Large Scale SLAM |
Problem set 1 due
Student survey responses discussed |
| 4 |
Vision Based SLAM (Guest: Paul Robertson)
Topological Maps, Hidden Markov Models (HMM), SIFT, Vision-based Localization |
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| Deducing State and Diagnosing Failure |
| 5 |
Model-based Diagnosis and Mode Estimation
Consistency-based Diagnosis: Candidates, Conflicts, Diagnoses, and Kernel Diagnoses
Conflict Extraction and Candidate Generation, Mode Estimation and Probabilistic Diagnosis, Active Probing |
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| 6 |
Solving Optimal CSPs through Conflict-Learning
Optimal Constraint Satisfaction Problems, Constraint-based A*, Conflict-directed A*, Conflict Extraction |
Problem set 2 due
Benchmark examples reviewed |
| Reasoning About Soft Constraints |
| 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 |
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| 8 |
Solving CSPs and SCSPS via Decomposition and Abstraction (Guest: Martin Sachenbacher)
Reduced Ordered Binary Decision Diagrams (ROBDDs), Representing and Manipulating Soft Constraints using Algebraic Decision Diagrams (ADDs) |
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| Planning Complex Missions |
| 9 |
Mission-level Task Planning (Guest: Robert Tappan Morris)
Partial Order Planning, Constraint-based Interval Planning, and Simple Temporal Networks (STNs) |
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| 10 |
Dynamic Plan Execution Under Uncertainty
STNS, Dispatchable Networks and Dispatching Execution, STNUs, Strong and Dynamic Controllability |
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| 11 |
Mixed Human Robotic Exploration (Guest: Jeff Hoffman) |
Problem set 3 due |
| Robots that Plan on the Fly |
| 12 |
Hidden State and Model-based Reactive Planning
Universal Planning, Structure Decomposition for Model-based Reactive Planning (MRP), Binary Decision Diagrams, Symbolic MRP |
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| 13 |
Continuous, Incremental Path Planning and Exploration
Single Source Shortest Path, D*, LRTA* |
Advanced lecture schedule assigned |
| 14 |
Planning with POMDPs (Student Presenters: Brian Bairstow, Tony Jimenez, and Larry Bush)
An Introduction to the Fundamentals of POMDPs, State of the Art in POMDP Research, A Pedagogical Explanation of the Respective Algorithm |
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| 15 |
Model-based, Multi-Agent Reasoning in Texas Hold'em Poker (Student Presenters: Brian Edward Mihok and Michael Terry)
Leading Techniques in Games Reasoning, Emphasis on Uncertainty Techniques
Hidden Markov Models and Bayesian Inference, Neural Networks |
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| 16 |
Cognitive Game Theory (Student Presenters: Justin Fox, Jeremie Pouly, and Jennifer Novosad)
Alpha-Beta and its Extensions
An Evolutionary Algorithm Applied to Chess
Inductive Adversary Modeler |
Problem set 4 due |
| 17 |
Mode Estimation for Hybrid Discrete/Continuous Systems (Student Presenters: Lars Blackmore)
Trajectory Tracking for Constraint-based HMMs, Gaussian Filtering for Hybrid HMMs (K-Best and Rao-Blackwell Particle Filtering) |
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| 18 |
Particle Filters and their Applications (Student Presenters: Kaijen Hsiao, Jason Miller, and Henry Lefebvre de Plinval-Salgues)
Particle Filters in SLAM in Fault Diagnosis |
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| 19 |
Hello Computer? (Student Presenters: Shuonan Dong, Shen Qu, and Thomas Coffee)
SharedPlan, Plan Recognition, and COLLAGEN |
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| 20 |
Advanced Topics in Bayesian Networks (Student Presenters: Tom Temple, Ethan Howe, and James Lenfestey)
Dynamic Bayes Networks, Exact Inference, Approximate Inference (PF), Learning, Probabilistic Relational Models, Parameter/Structure Estimation |
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| Sensing and Manipulating at the Cognitive Level |
| 21 |
Visual Interpretation using Probabilistic Grammars (Guest: Paul Robertson)
Statistical Parsing, Image Segmentation, Monte Carlo Methods, Language Learning |
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| 22 |
Safe Execution of Bipedal Walking Tasks (Guest: 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 |
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| Human - Robot Interaction |
| 23 |
Working with and Learning from Humans as Partners (Guest: Cynthia Breazeal)
Multi-modal Communication, Human-robot Teamwork, Socially Guided Learning |
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| 24 |
Nursebot: Dialogue as a Decision Making Process (Guest: Nick Roy)
Model-based Dialog Management, Hierarchical Planning under Uncertainty, Reinforcement Learning for Human Interaction |
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| 25 |
Project Demonstrations |
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| 26 |
Project Demonstrations (cont.) |
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