Cognitive Robotics Lecture Schedule
From David Vernon's Wiki
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 | Lecture 2 Slides. Vernon (1991), Sections 2.2.1, 2.2.2, 3.1, 4.1.4, 4.2.1, 5.1, 5.3.1. | Image acquisition and image processing using OpenCV |
| Tues. 24 Jan. | 3 | Robot vision II | Hough transform: line, circle, and generalized transform; extension to codeword features. | USB camera | OpenCV | Lecture 3 Slides. Vernon (1991), Sections 5.2, 6.4. | Assignment 1: Object detection, localization, and pose estimation using the Hough transform |
| Thurs. 26 Jan. | 4 | Robot vision III | Colour segmentation. Colour histogram intersection and back-projection. | USB camera | OpenCV | Lecture 4 Slides. Hanbury 2002. Swain and Ballard 1991. | |
| Tues. 31 Jan. | 5 | Robot vision IV | Homogeneous coordinates and transformations. Perspective transformation. Camera model and inverse perspective transformation. | USB camera | OpenCV | Lecture 5 Slides. Vernon (1991), Section 8.6, 9.4.2. Dawson-Howe and Vernon (1995). OpenCV documentation on camera calibration. | |
| Thurs. 2 Feb. | 6 | Mobile robots I | Types of mobile robots. The challenge of robot navigation. Wheeled locomotion. Kinematics of a two-wheel differential drive robot. Inverse kinematics. | Lecture 6 Slides. Vernon (2009). | |||
| Tues. 7 Feb. | 7 | Mobile robots II | The position estimation problem. Relative position estimation. Odometry-based navigation. Absolute position estimation. Combined position estimation. | Lecture 7 Slides. | |||
| Thurs. 9 Feb. | 8 | Mobile robots III | Closed-Loop Control. Go-to-pose Problem. Divide and conquer controller. MIMO controller. Cozmo Robot. Python Cozmo SDK. | Anki Cozmo mobile robot | Anki Cozmo SDK | Lecture 8 Slides. Python tutorial. Cozmo SDK API. | |
| Tues. 14 Feb. | 9 | Mobile robots IV | Path planning. The search problem in AI. Path planning as a search problem. Breadth-First Search (BFS): The Wavefront Algorithm. Depth-First Search (DFS). Heuristic Search. Greedy Search. A* Search. | Lecture 9 Slides. | Assignment 2: Mobile robot navigation | ||
| 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 Feb. | 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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