Cognitive Robotics: Lectures

Week 1
Wed 1/17	Lecture: Course intro; AIBO overview; C++ for Java programmers Videos: XOR.mp4, BanditMovie.mp4 Read: C++ review
Fri 1/19	Read: tutorial section on Robot safety Lab 1: Teleoperation with ControllerGUI; compiling Tekkotsu behaviors
Week 2
Mon 1/22	Read tutorial sections: Introduction, Documentation, Behaviors, Events Lecture: Tekkotsu behaviors and events
Wed 1/24	Read: tutorial section on Motion commands Read: documentation for MotionManager, MotionCommand, MMAccessor, LedEngine Lecture: Motion commands and real-time programming
Fri 1/26	Lab 2/Homework 1: Programming with motion commands
Week 3
Mon 1/29	Lecture: Tekkotsu vision pipeline; color image segmentation Read: overview of the Vision Pipeline Read: tutorial section on color image segmentation and EasyTrain Homework 2: Color segmentation with EasyTrain (due by Friday, 2/2/07)
Wed 1/31	Read: S. Ullman (1984) Visual routines. Cognition 18:97-157. Lecture: Ullman's visual routines; Sketches in Tekkotsu
Fri 2/02	Read: tutorial sections on VisualRoutinesBehavior, Sketch primitives, Tekkotsu simulator Lab 3/Homework 3: Tekkotsu simulator; programming with Sketches
Week 4
Mon 2/05	Read: MIT Encyclopedia of Cognitive Science articles on Mental Representation and Imagery (both mention Paivio's dual coding theory) Read: tutorial section on Shape primitives Lecture: Shape representations
Wed 2/07	Read: How qualitative spatial reasoning can improve strategy game AIs, by Forbus, Mahoney, and Dill. Lecture: Shape predicates; Tekkotsu's local map builder
Fri 2/09	Lab 4: Map building and visual search Homework 4: Parsing the tic-tac-toe board
Week 5
Mon 2/12	Read: tutorial section on State machines Lecture: State machine formalism
Wed 2/14	Lecture: Architectures for robot control
Fri 2/16	Read: tutorial chapter on The Storyboard Toool Lab 5: Storyboard tool
Week 6
Mon 2/19	Lecture: World maps and localization
Wed 2/21	Read: tutorial chapter on Walking Lecture: Navigating with the Pilot
Fri 2/23	Lab 6: Knock down a soda can
Week 7
Mon 2/26	Lecture: Object recognition
Wed 2/28	Leture: Gestalt perception
Fri 3/02	Lab 7: Gestalt perception exercise
Week 8
Mon 3/05	Read: B. Kuipers (2005) Drinking from the firehose of experience. Lecture: Consciousness and groundedness
Wed 3/07	Midterm exam
Fri 3/09	mid-semester break
Week 9
Mon 3/12	Spring Break
Wed 3/14	Spring Break
Fri 3/16	Spring Break
Week 10
Mon 3/19	Read: tutorial chapter on Postures and Motion Sequences Lecture: Postures and motion sequences Videos: standlie.mp4, pan_head.mp4, headwag.mp4, fallover.mp4
Wed 3/21	Read: tutorial chapter on Forward kinematics Optional: A gentle introduction to homogenous transformations and robot kinematics, by Jennifer Kay. Lecture: Body representation and the kinematics engine Tekkotsu Quick Reference lists AIBO reference frames (page 2)
Fri 3/23	Lab 8: Kinematics lab
Week 11
Mon 3/26	Lecture: Affordances Video: AIBO tool use Optional: Affordances and Design, by Don Norman
Wed 3/28	Lecture: Human-robot interaction Video: Cythia Breazeal on Nova More Kismet videos
Fri 3/30	Lab 9: LookingGlass tool
Week 12
Mon 4/02	Lecture: Manipulation by pushing
Wed 4/04	Lecture: Manipulation with friction Handout: PID Control Simulation - Excel Spreadsheet
Fri 4/06	Lab 10: Manipulation exercise
Week 13
Mon 4/09	Lecture: Robot learning
Wed 4/11	Special lab meeting: project prototyping experiments
Fri 4/13	project clinic
Week 14
Mon 4/16	project clinic
Wed 4/18	project clinic
Fri 4/20	Spring Carnival
Week 15
Mon 4/23	project clinic
Wed 4/25	project clinic
Fri 4/27	project clinic
Week 16
Mon 4/30	Project presentations/critiques
Wed 5/02	Project presentations/critiques
Fri 5/04	Public demo of class projects
Finals Week
Mon 5/14	Final exam: 5:30 to 8:30 pm, in Porter Hall room A18A