Cognitive Robotics Schedule
Spring 2022
Office hours (Hita): see below
Date Lecture Office Hours Project/Assignment Hand-in
Week 1 Mon 1/17 No class. Martin Luther King holiday.
Wed 1/19 Course overview and introduction to Cozmo.
Videos: Chiara piano, Chiara chess, Calypso for Cozmo
Reading: Ten Big Ideas in Robotics
Fri 1/21 Lab 1: Meet Cozmo Browse the IEEE Automaton blog for photos and videos of cool robots.
Week 2 Mon 1/24 Robot software architecture and Python control structure. Read the slides from Beazley's 2009 coroutines lecture. Somehwat dated but still really good.
Wed 1/26 Finite state machines. Install cozmo-tools on your laptop.
Thu 1/27 Hita
5-6
Fri 1/28 Lab 2: Odometry Finish Lab 2 for homework.
Week 3 Mon 1/31 Lecture: State machine misconceptions.
Lecture: More state machines, and intro to particle filters.
Try out particle_filter_demo and pfdemo.py.
Wed 2/2 Particle filters. If you would like to learn more, see these excellent lectures on probabilistic robotics.
Thu 2/3 Hita
5-6
Fri 2/4 Lab 3: Particle filters. 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.
Read: Introduction to homogenous transformations and robot kinematics, by Jennifer Kay.
Watch: Denavit-Hartenberg Conventions
Wed 2/9 The world map. Visualizing quaternions video series.
Play with quaternions.online (click the bars to change rotation).
Thu 2/10 Hita
5-6
Fri 2/11 Lab 4: Kinematics. 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.
Wed 2/16 Path planning algorithms.
RRT Animation Gallery.
Videos: A* Search, Tekkotsu hand/eye planner
Thu 2/17 Hita
5-6
Fri 2/18 Lab 5: Cozmo's path planner, and intro to SLAM. 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.
Read about SHRDLU.
Review regular expressions in Python.
Thu 2/24 Hita
5-6
Fri 2/25 Lab 6: Vision and speech recognition. 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
Tue 3/1 Hita 3:30-4:30
Wed 3/2 Autonomous driving with ALVINN.
Watch the ALVINN video
Read the ALVINN demo source code.
Thu 3/3 Hita
4:10-5:10
Fri 3/4 Mid-semester break. No lab. Lab 6 due
Week 8 Mon 3/7 Spring break: no class.
Wed 3/9 Spring break: no class.
Fri 3/11 Spring break: no lab.
Week 9 Mon 3/14 Convolutional networks.
Demos: mnist1.py, mnist2.py, mnist3.py
Tue 3/15 Hita 3:30-4:30
Wed 3/16 ImageNet and transfer learning.
Try these MobileNet demos.
Thu 3/17 Hita
4:10-5:10
Fri 3/18 Lab 7: PyTorch and Neural Networks.
Week 10 Mon 3/21 Machine learning in Python: scikit-learn.
Extra slides on EM algorithm.
Demo: emdemo.py
Demo: RGBClusterer.fsm, RGBClusterer.py
Tue 3/22 Hita 3:30-4:30
Wed 3/23 Calypso for Cozmo. 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.
Thu 3/24 Hita
4:10-5:10
Fri 3/25 Lab 8: Calypso and ALVINN.
Week 11 Mon 3/28 Code Lab. Try out Scratch 3.0. Lab 7 due.
Tue 3/29 Hita 3:30-4:30
Wed 3/30 Discussion of Project Ideas.
Fri 4/1 Work on final projects.
Week 12 Mon 4/4 Work on final projects. 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.
Thu 4/7 Hita
4:10-5:10
Fri 4/8 Spring Carnival. No lab.
Week 13 Mon 4/11 Work on final projects.
Wed 4/13 Work on final projects.
Thu 4/14 Hita
4:10-5:10
Fri 4/15 Work on final projects.
Week 14 Mon 4/18 Work on final projects.
Wed 4/20 Work on final projects.
Thu 4/21 Hita
4:10-5:10
Fri 4/22 Work on final projects
Week 15 Mon 4/25 Work on final projects.
Wed 4/27 Work on final projects.
Thu 4/28 Hita
4:10-5:10
Fri 4/29 Demos of your projects. Final project hand-in due by Sunday May 8.