Difference between revisions of "Cognitive Robotics Lecture Schedule"
From David Vernon's Wiki
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|Mobile robots I | |Mobile robots I | ||
|Differential drive locomotion. Forward and inverse kinematics. Holonomic and non-holonomic constraints. Cozmo mobile robot. | |Differential drive locomotion. Forward and inverse kinematics. Holonomic and non-holonomic constraints. Cozmo mobile robot. | ||
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|Cozmo locomotion. | |Cozmo locomotion. | ||
|- style="vertical-align: top;" | |- style="vertical-align: top;" | ||
| − | | Tues. | + | | Tues. 7 Feb. |
| − | | | + | | 7 |
|Mobile robots II | |Mobile robots II | ||
|Relative and absolute position estimation. Odometry. | |Relative and absolute position estimation. Odometry. | ||
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|Cozmo landmark recognition. | |Cozmo landmark recognition. | ||
|- style="vertical-align: top;" | |- style="vertical-align: top;" | ||
| − | | Thurs. | + | | Thurs. 9 Feb. |
| − | | | + | | 8 |
|Mobile robots III | |Mobile robots III | ||
|Map representation. Probabilistic map-based localization. Landmark-based localization. | |Map representation. Probabilistic map-based localization. Landmark-based localization. | ||
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|Cozmo landmark recognition | |Cozmo landmark recognition | ||
|- style="vertical-align: top;" | |- style="vertical-align: top;" | ||
| − | | Tues. | + | | Tues. 14 Feb. |
| − | | | + | | 9 |
|Mobile robots IV | |Mobile robots IV | ||
|SLAM: simultaneous localization and mapping. Extended Kalman Filter (EKF) SLAM. Visual SLAM. Particle filter SLAM. | |SLAM: simultaneous localization and mapping. Extended Kalman Filter (EKF) SLAM. Visual SLAM. Particle filter SLAM. | ||
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|Cozmo object recognition | |Cozmo object recognition | ||
|- style="vertical-align: top;" | |- style="vertical-align: top;" | ||
| − | | Tues. | + | | Tues. 16 Feb. |
| − | | | + | | 10 |
|Mobile robots V | |Mobile robots V | ||
|Graph search path planning. Potential field path planning. Navigation. Obstacle avoidance. Object search. | |Graph search path planning. Potential field path planning. Navigation. Obstacle avoidance. Object search. | ||
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|Cozmo navigation | |Cozmo navigation | ||
|- style="vertical-align: top;" | |- style="vertical-align: top;" | ||
| − | | Tues. | + | | Tues. 21 Feb. |
| − | | | + | | 11 |
|Robot arms I | |Robot arms I | ||
|Homogeneous transformations. Frame-based pose specification. Denavit-Hartenberg specifications. Robot kinematics. | |Homogeneous transformations. Frame-based pose specification. Denavit-Hartenberg specifications. Robot kinematics. | ||
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|Move end-effector along various paths in joint space | |Move end-effector along various paths in joint space | ||
|- style="vertical-align: top;" | |- style="vertical-align: top;" | ||
| − | | Thurs. | + | | Thurs. 23. |
| − | | | + | | 12 |
|Robot arms II | |Robot arms II | ||
|Analytic inverse kinematics. Iterative approaches. Kinematic structure learning. Kinematics structure correspondences. | |Analytic inverse kinematics. Iterative approaches. Kinematic structure learning. Kinematics structure correspondences. | ||
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|Move end-effector along various paths in Cartesian frame of reference | |Move end-effector along various paths in Cartesian frame of reference | ||
|- style="vertical-align: top;" | |- style="vertical-align: top;" | ||
| − | | Tues. | + | | Tues. 28 Feb. |
| − | | | + | | 13 |
|Robot arms III | |Robot arms III | ||
|Robot manipulation. Frame-based task specification. Vision-based pose estimation. | |Robot manipulation. Frame-based task specification. Vision-based pose estimation. | ||
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|Compute the pose of a light cube | |Compute the pose of a light cube | ||
|- style="vertical-align: top;" | |- style="vertical-align: top;" | ||
| − | | Thurs. | + | | Thurs. 2 Mar. |
| − | | | + | | 14 |
| Robot arms IV | | Robot arms IV | ||
| Programming by demonstration. Language-based programming. | | Programming by demonstration. Language-based programming. | ||
Revision as of 11:19, 16 January 2017
Mini 1: Cognitive Robotics: Foundations
| Date | Lecture | Topic | Material covered | Required hardware | Required software | Reading | Homework exercises |
|---|---|---|---|---|---|---|---|
| Tues. 17 Jan. | 1 | Introduction | Motivation. Goals of the course. Syllabus and lecture schedule. Course operation. Industrial requirements for cognitive robots. Artificial cognitive systems. Cognitivist, emergent, and hybrid paradigms in cognitive science. Autonomy. AI and cognition in robotics. Software development tools for assignments. | None | None | Lecture 1 Slides. Vernon (2014), Chapters 1, 2, and 4. | Install software tools and run example assignment0 programs. |
| Thurs. 19 Jan. | 2 | Robot vision I | Computer vision. Optics, sensors, and image formation. Image acquisition. Fundamentals of image processing. Segmentation and edge detection. Introduction to OpenCV. | USB camera | OpenCV | Vernon (1991), Sections 2.2.1, 2.2.2, 3.1, 4.1, 4.2, 5.1, 5.2, 5.3.1. | Image acquisition and image processing using OpenCV |
| Tues. 24 Jan. | 3 | Robot vision II | Segmentation. Hough transform: line, circle, and generalized transform; extension to codeword features. Colour-based segmentation. | USB camera | OpenCV | Szeliski (2010), Sections 3.1.2, 3.3.4, 4.3.2. Vernon (1991), Section 3.1, 3.2, 3.3, 4.2.1, 4.2.2, 5.3, 6.4. | Hough transforms and colour segmentation using OpenCV |
| Thurs. 26 Jan. | 4 | Robot vision III | Object recognition. Interest point operators. Gradient orientation histogram - SIFT descriptor. Colour histogram intersection. Haar features, boosting, face detection. | USB camera | OpenCV, Vienna University of Technology BLORT Library | Szeliski (2010), Sections 4.1.2, 4.1.3, 4.1.4, 4.1.5, 14.1.1. | Face detection and object recognition using OpenCV |
| Tues. 31 Jan. | 5 | Robot vision IV | Homogeneous coordinates and transformations. Perspective transformation. Camera model and inverse perspective transformation. Stereo vision. Epipolar geometry. Structured light & RGB-D cameras. | USB camera | OpenCV | Szeliski (2010), Sections 2.1, 11.1, 11.2, 11.3. Vernon (1991), Section 8.6, 9.4.2. | Camera calibration |
| Thurs. 2 Feb. | 6 | Mobile robots I | Differential drive locomotion. Forward and inverse kinematics. Holonomic and non-holonomic constraints. Cozmo mobile robot. | Anki Cozmo mobile robot | Anki Cozmo SDK, OpenCV | Python tutorial. Cozmo SDK API. OpenCV Python tutorial. | Cozmo locomotion. |
| Tues. 7 Feb. | 7 | Mobile robots II | Relative and absolute position estimation. Odometry. | Anki Cozmo mobile robot | Anki Cozmo SDK, OpenCV | Python tutorial. Cozmo SDK API. OpenCV Python tutorial. | Cozmo landmark recognition. |
| Thurs. 9 Feb. | 8 | Mobile robots III | Map representation. Probabilistic map-based localization. Landmark-based localization. | Anki Cozmo mobile robot | Anki Cozmo SDK, OpenCV | Python tutorial. Cozmo SDK API. OpenCV Python tutorial. | Cozmo landmark recognition |
| Tues. 14 Feb. | 9 | Mobile robots IV | SLAM: simultaneous localization and mapping. Extended Kalman Filter (EKF) SLAM. Visual SLAM. Particle filter SLAM. | Anki Cozmo mobile robot | Anki Cozmo SDK, OpenCV | Python tutorial. Cozmo SDK API. OpenCV Python tutorial. | Cozmo object recognition |
| Tues. 16 Feb. | 10 | Mobile robots V | Graph search path planning. Potential field path planning. Navigation. Obstacle avoidance. Object search. | Anki Cozmo mobile robot | Anki Cozmo SDK, OpenCV | Python tutorial. Cozmo SDK API. OpenCV Python tutorial. | Cozmo navigation |
| Tues. 21 Feb. | 11 | Robot arms I | Homogeneous transformations. Frame-based pose specification. Denavit-Hartenberg specifications. Robot kinematics. | Lynxmotion 5DoF arm, Arduino interface | Arduino sketch programs for Lynxmotion | Paul (1981), Chapters 1 & 2. | Move end-effector along various paths in joint space |
| Thurs. 23. | 12 | Robot arms II | Analytic inverse kinematics. Iterative approaches. Kinematic structure learning. Kinematics structure correspondences. | Lynxmotion 5DoF arm, Arduino interface | Arduino sketch programs for Lynxmotion | Paul (1981), Chapter 3. | Move end-effector along various paths in Cartesian frame of reference |
| Tues. 28 Feb. | 13 | Robot arms III | Robot manipulation. Frame-based task specification. Vision-based pose estimation. | Lynxmotion 5DoF arm, Arduino interface | Arduino sketch programs for Lynxmotion | Vernon (1991), Sections 8.1-8.4. | Compute the pose of a light cube |
| Thurs. 2 Mar. | 14 | Robot arms IV | Programming by demonstration. Language-based programming. | Lynxmotion 5DoF arm, Arduino interface | Arduino sketch programs for Lynxmotion | Vernon (1991), Sections 8.1-8.4 | Implement a program to move light cube from one position/pose to another position/pose |
Mini 2: Cognitive Robotics: Principles and Practice
| Date | Lecture | Topic | Material covered | Required hardware | Required software | Reading | Homework exercises |
|---|---|---|---|---|---|---|---|
| TBD | 1 | Cognitive architectures I | Role and requirements; cognitive architecture schemas; example cognitive architectures including Soar, ACT-R, Clarion, LIDA, and ISAC. The Standard Model. | Vernon (2014) Chapter 3. Chella et al. (2013). Scheutz et al. (2013). Vernon et al. (2016). | Group discussion on which cognitive architectures are suitable for cognitive robotics | ||
| TBD | 2 | Cognitive architectures II | CRAM: Cognitive Robot Abstract Machine. CRAM Plan Language (CPL). KnowRob knowledge processing and reasoning | CRAM | Beetz et al. (2010) | CRAM test programs | |
| TBD | 3 | Cognitive architectures III | Knowledge representation, processing, and reasoning. | KnowRob and OpenEASE | Beetz et al. (2015) | OpenEASE test programs | |
| TBD | 4 | Learning and development I | Supervised, unsupervised, and reinforcement learning. Hebbian learning. | MaxHebb library | Harmon and Harmon (1997) | Hebbian learning | |
| TBD | 5 | Learning and development II | Predictive sequence learning (PSL). | Anki Cozmo mobile robot | Anki Cozmo SDK, PSL library | Sun and Giles (2001). Billing et al. (2011, 2016). | PSL test programs |
| TBD | 6 | Learning and development III | Learning from demonstration | Anki Cozmo mobile robot | Anki Cozmo SDK, PSL library | Vernon (2014), Chapters 6 & 8. Billard et al. (2008). Argall (2009). | PSL test programs |
| TBD | 7 | Learning and development IV | Cognitive development in humans and robots. Value systems for developmental and cognitive robots. | Vernon (2014), Chapters 6 & 9. Lungarella et al. (2003). Asada et al. (2009). Cangelosi and Schlesinger (2015), Chapters 1 & 2. Merrick (2016). Vernon et al. (2016). | |||
| TBD | 8 | Memory and Prospection | Declarative vs. procedural memory. Semantic memory. Episodic memory | Anki Cozmo mobile robot | Anki Cozmo SDK, CINDY library, OpenCV | Vernon (2014), Chapter 7. | Implementation of episodic memory on Cozmo |
| TBD | 9 | Internal simulation I | Episodic future thinking. Forward and inverse models. Internal simulation hypothesis, Internal simulation with PSL | Anki Cozmo mobile robot | Anki Cozmo SDK, PSL library | Vernon (2014), Chapter 8. Billing et al. (2016). | PSL test programs |
| TBD | 10 | Internal simulation II | HAMMER cognitive architecture | Boost, Imperial College London HAMMER library | Demiris and Khadhouri (2006). Sarabia et al. (2011). | HAMMER tutorial using the ICL library | |
| TBD | 11 | Social interaction I | Joint action. Joint attention. Shared intention. Shared goals. Perspective taking. Theory of mind. | Kinect RGB-D sensor | Ubuntu 14.04, ROS, Imperial College London Perspective Taking library | Vernon (2014), Chapter 9. Fisher and Demiris 2016. | Perspective taking using the ICL library. |
| TBD | 12 | Social interaction II | Action and intention recognition. Embodied cognition. Humanoid robotics. | Kinect RGB-D sensor | Ubuntu 14.04, ROS, Imperial College London Perspective Taking library. | Vernon (2014), Chapter 9. | Perspective taking using the ICL library |
| TBD | 13 | ||||||
| 14 |
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