|
Date |
Lecture |
Office Hours |
Project/Assignment |
Hand-in |
Week 1 |
Mon 1/17 |
No class. Martin Luther King holiday. |
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Wed 1/19 |
Course overview and introduction to Cozmo.
Videos: Chiara piano,
Chiara chess,
Calypso for Cozmo |
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Reading: Ten Big Ideas in Robotics |
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Fri 1/21 |
Lab 1: Meet Cozmo |
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Browse the IEEE Automaton blog
for photos and videos of cool robots. |
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Week 2 |
Mon 1/24 |
Robot software architecture and Python control structure. |
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Read the slides from Beazley's 2009 coroutines lecture. Somehwat dated but still really good. |
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Wed 1/26 |
Finite state machines. |
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Install cozmo-tools on your laptop. |
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Thu 1/27 |
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Hita 5-6 |
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Fri 1/28 |
Lab 2: Odometry |
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Finish Lab 2 for homework. |
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Week 3 |
Mon 1/31 |
Lecture:
State machine misconceptions.
Lecture:
More state machines, and intro to particle filters. |
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Try out particle_filter_demo
and pfdemo.py. |
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Wed 2/2 |
Particle filters. |
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If you would like to learn more, see these excellent
lectures
on probabilistic robotics. |
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Thu 2/3 |
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Hita 5-6 |
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Fri 2/4 |
Lab 3: Particle filters. |
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Finish lab 3 for homework. |
Lab 2 due |
Week 4 |
Mon 2/7 |
Lecture:
Kinematics.
Videos:
Denavit-Hartenberg conventions,
Towers of Hanoi,
3-dof arm IK,
high-dof tentacle IK,
tentacle manipulation
Resource:
numpy quick start.
|
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Read: Introduction to homogenous
transformations and robot kinematics, by Jennifer Kay.
Watch: Denavit-Hartenberg Conventions |
|
Wed 2/9 |
The world map. |
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Visualizing quaternions video series. Play with quaternions.online (click the bars to change rotation). |
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Thu 2/10 |
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Hita 5-6 |
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Fri 2/11 |
Lab 4: Kinematics. |
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Finish Lab 4 for homework. |
Lab 3 due. |
Week 5 |
Mon 2/14 |
More kinematics,
world maps, and SLAM
Videos:
Robot Navigation Using SLAM by Ibrahim Musba.
SLAM A 00 by Claus Brenner.
Lidar vs. Vslam for robot vacuums.
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Wed 2/16 |
Path planning algorithms.
RRT Animation Gallery.
Videos: A* Search,
Tekkotsu hand/eye planner
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Thu 2/17 |
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Hita 5-6 |
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Fri 2/18 |
Lab 5: Cozmo's path planner, and intro to SLAM. |
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Finish Lab 5 for homework. |
Lab 4 due. |
Week 6 |
Mon 2/21 |
Intro to OpenCV.
Demo: CircleWatcher.py
OpenCV part 2.
Shape matching.
Watershed algorithm
(more info).
Files: water_coins.jpg,
watershed.py.
Matplotlib.
Examples: PlotDrive.fsm,
PlotDrive.py;
and Histogram.fsm
Histogram.py
|
|
Browse OpenCV
Python Tutorials, specifically
on contours.
Matplotlib
usage. Matplotlib
tutorial info. |
|
Wed 2/23 |
Speech generation and recognition.
Demo: Speech1.fsm.
Google Speech API demo
Winograd's SHRDLU system, and a
modern version. |
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Read about SHRDLU.
Review regular expressions in Python. |
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Thu 2/24 |
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Hita 5-6 |
|
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Fri 2/25 |
Lab 6: Vision and speech recognition. |
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Finish Lab 6 for homework. |
Lab 5 due |
Week 7 |
Mon 2/28 |
Backpropagation learning.
Demos: linfit.py,
encoder .py,
approxfn .py,
approxfn2 .py,
approxfn3 .py,
mnist1 .py
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Tue 3/1 |
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Hita 3:30-4:30 |
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Wed 3/2 |
Autonomous driving with ALVINN.
Watch the ALVINN video
|
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Read the ALVINN demo source code. |
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Thu 3/3 |
|
Hita 4:10-5:10 |
|
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Fri 3/4 |
Mid-semester break. No lab. |
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Lab 6 due |
Week 8 |
Mon 3/7 |
Spring break: no class. |
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Wed 3/9 |
Spring break: no class. |
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Fri 3/11 |
Spring break: no lab. |
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Week 9 |
Mon 3/14 |
Convolutional networks.
Demos: mnist1.py,
mnist2.py,
mnist3.py
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Tue 3/15 |
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Hita 3:30-4:30 |
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Wed 3/16 |
ImageNet and transfer learning.
Try these MobileNet demos. |
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Thu 3/17 |
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Hita 4:10-5:10 |
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Fri 3/18 |
Lab 7: PyTorch and Neural Networks. |
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Week 10 |
Mon 3/21 |
Machine
learning in Python: scikit-learn. Extra slides
on EM
algorithm.
Demo: emdemo.py
Demo: RGBClusterer.fsm,
RGBClusterer.py |
|
|
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Tue 3/22 |
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Hita 3:30-4:30 |
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Wed 3/23 |
Calypso for Cozmo. |
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Watch Calypso
videos: intro,
and keep-away
tutorial. Have a look at
the Calypso
Curriculum. Then
read Computational
thinking and mental models: from Kodu to Calypso.
|
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Thu 3/24 |
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Hita 4:10-5:10 |
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Fri 3/25 |
Lab 8: Calypso and ALVINN. |
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Week 11 |
Mon 3/28 |
Code Lab. |
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Try out Scratch 3.0. |
Lab 7 due. |
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Tue 3/29 |
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Hita 3:30-4:30 |
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Wed 3/30 |
Discussion of Project Ideas. |
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Fri 4/1 |
Work on final projects. |
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Week 12 |
Mon 4/4 |
Work on final projects. |
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Lab 8 due |
Wed 4/6 |
Please minimize your use of the REL
today outside of our 3:30-4:30 class time. Work on final
projects. |
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Thu 4/7 |
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Hita 4:10-5:10 |
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Fri 4/8 |
Spring Carnival. No lab. |
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Week 13 |
Mon 4/11 |
Work on final projects. |
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Wed 4/13 |
Work on final projects. |
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Thu 4/14 |
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Hita 4:10-5:10 |
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Fri 4/15 |
Work on final projects. |
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Week 14 |
Mon 4/18 |
Work on final projects. |
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Wed 4/20 |
Work on final projects. |
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Thu 4/21 |
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Hita 4:10-5:10 |
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Fri 4/22 |
Work on final projects |
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Week 15 |
Mon 4/25 |
Work on final projects. |
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Wed 4/27 |
Work on final projects. |
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Thu 4/28 |
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Hita 4:10-5:10 |
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Fri 4/29 |
Demos of your projects. |
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Final project hand-in due by Sunday May 8. |
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