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15-494 Cognitive Robotics Spring 2010 |
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15-494 Cognitive Robotics Spring 2010 |
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| Week 1 | |
| Mon 1/11 |
Lecture: Course intro;
Chiara overview;
C++ for Java programmers Videos: XOR demo, Two-Armed Bandit demo, Regis demo, Chiara walking Read: C++ review |
| Wed 1/13 |
Read tutorial sections:
Introduction,
Documentation,
Behaviors,
Events Lecture: Tekkotsu behaviors and events Drill: Behaviors and events drill |
| Fri 1/15 |
Read: tutorial section on
Robot safety Lab 1: Teleoperation with ControllerGUI; compiling Tekkotsu behaviors |
| Week 2 | |
| Mon 1/18 | Martin Luther King Day: no class. |
| Wed 1/20 |
Read: tutorial sections on
State nodes,
Shorthand notation,
Defining node classes Lecture: State machine formalism Drill: State machines drill |
| Fri 1/22 |
Read: tutorial chapter on
The Storyboard Tool Lab 2: State machines and the Storyboard tool |
| Week 3 | |
| Mon 1/25 | 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, 1/30/09) |
| Wed 1/27 | Read: S. Ullman (1984)
Visual routines. Cognition 18:97-157. Lecture: Ullman's visual routines; Sketches in Tekkotsu |
| Fri 1/29 |
Read: tutorial sections on
VisualRoutinesStateNode,
Sketch primitives,
Tekkotsu simulator Lab 3/Homework 3: Tekkotsu simulator; programming with Sketches |
| Week 4 | |
| Mon 2/01 |
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 2/03 |
Read: How qualitative spatial reasoning can improve strategy game AIs, by Forbus, Mahoney, and Dill. Read: tutorial section on the Map Builder Lecture: Shape predicates; Tekkotsu's local map builder |
| Fri 2/05 | Lab 4: Map building and visual search Homework 4: Parsing the tic-tac-toe board |
| Week 5 | |
| Mon 2/08 |
Read: tutorial section on
State signalling Lecture: Architectures for robot control; advanced state machines |
| Wed 2/10 | Read: tutorial chapter on Postures and Motion Sequences Lecture: Postures and motion sequences Videos: standlie.mp4, pan_head.mp4, headwag.mp4, fallover.mp4 |
| Fri 2/11 | Lab 5/Homework 5: Motion Sequences |
| Week 6 | |
| Mon 2/15 | Lecture: World maps and localization |
| Wed 2/17 | Read: tutorial chapter on
Walking Lecture: Navigating with the Pilot |
| Fri 2/19 | Lab 6: Knock down a soda can |
| Week 7 | |
| Mon 2/22 | Lecture: Object recognition Supplemental: Fred Birchmore's soda can detector |
| Wed 2/24 | Leture: Gestalt perception |
| Fri 2/26 | Lab 7: Gestalt perception exercise |
| Week 8 | |
| Mon 3/01 | Read:
B. Kuipers (2005) Drinking from the firehose of experience. Lecture: Consciousness and groundedness Video demo: the flash lag effect |
| Wed 3/03 | Midterm exam |
| Fri 3/05 |
mid-semester break |
| Week 9 | |
| Mon 3/08 |
Spring Break |
| Wed 3/10 |
Spring Break |
| Fri 3/12 |
Spring Break |
| Week 10 | |
| Mon 3/15 |
Read: tutorial section on
Motion commands Read: documentation for MotionManager, MotionCommand, MMAccessor, LedEngine Lecture: Motion commands and real-time programming |
| Wed 3/17 | 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 Video: Denavit-Hartenberg Reference Frame Layout Video: Tentacle arm path planning |
| Fri 3/19 | Lab 8: Kinematics lab |
| Week 11 | |
| Mon 3/22 | Lecture: Affordances Video: AIBO tool use Optional: Affordances and Design, by Don Norman |
| Wed 3/24 | Lecture: Human-robot interaction Video: Cythia Breazeal on Nova More Kismet videos |
| Fri 3/26 | Lab 9: LookingGlass tool |
| Week 12 | |
| Mon 3/29 | Lecture: Manipulation and path planning Video: Tekkotsu arm path planning |
| Wed 3/31 | Lecture: Manipulation with friction Handout: PID Control Simulation - Excel Spreadsheet |
| Fri 4/02 | Lab 10: Manipulation exercise |
| Week 13 | |
| Mon 4/05 | Lecture: Robot learning |
| Wed 4/07 | Special lab meeting: project prototyping experiments |
| Fri 4/09 | project clinic |
| Week 14 | |
| Mon 4/12 | project clinic |
| Wed 4/14 | project clinic |
| Fri 4/16 |
Spring Carnival |
| Week 15 | |
| Mon 4/19 | project clinic |
| Wed 4/21 | project clinic |
| Fri 4/23 | project clinic |
| Week 16 | |
| Mon 4/26 | Project presentations/critiques |
| Wed 4/28 | Project presentations/critiques |
| Fri 4/30 |
Public demo of class projects |
| Finals Week | |
| Mon 5/10 | Final exam 1:00 pm to 4:00 pm in GHC 4307 Final projects due |