|
Date |
Lecture |
Office Hours |
Project/Assignment |
Hand-in |
| Week 1 |
Mon 1/13 |
Course overview and introduction to Cozmo.
Videos: Chiara piano,
Chiara chess,
Calypso for Cozmo |
|
Reading: Ten Big Ideas in Robotics |
|
| Wed 1/15 |
Robot software architecture and Python control structure. |
|
Read the slides from Beazley's 2009 coroutines lecture. Somehwat dated but still really good. |
|
| Fri 1/17 |
Lab 1: Meet Cozmo! |
|
|
|
|
| Week 2 |
Mon 1/20 |
Dr. Martin Luther King Holiday. No classes today.
| |
|
|
| Wed 1/22 |
Finite state machines. |
|
|
|
| Fri 1/24 |
Lab 2: Odometry |
|
Finish Lab 2 for homework. |
|
|
| Week 3 |
Mon 1/27 |
More state machines. Intro to particle filters. |
|
Try out particle_filter_demo and pfdemo.py. |
|
| Wed 1/29 |
Particle filters. |
|
If you would like to learn more, see these excellent
lectures
on probabilistic robotics. |
Can Cozmo do this? |
| Fri 1/31 |
Lab 3: Particle filters. |
|
Finish Lab 3 for homework. |
Lab 2 due. |
|
| Week 4 |
Mon 2/3 |
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 2/5 |
The world map. |
|
Visualizing quaternions video series.
Play with quaternions.online (click the bars to change rotation). |
|
| Fri 2/7 |
Lab 4: Kinematics. |
|
Finish Lab 4 for homework. |
Lab 3 due. |
|
| Week 5 |
Mon 2/10 |
More kinematics,
world maps, and SLAM
Videos:
Robot Navigation Using SLAM by Ibrahim Musba.
SLAM A 00 by Claus Brenner.
|
|
|
|
| Wed 2/12 |
Path planning algorithms.
RRT Animation Gallery.
Videos: A* Search,
Tekkotsu hand/eye planner
|
|
|
|
| Fri 2/14 |
Lab 5: Cozmo's path planner, and intro to SLAM. |
|
Finish Lab 5 for homework. |
Lab 4 due. |
|
| Week 6 |
Mon 2/17 |
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 2/19 |
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. |
|
| Fri 2/21 |
Lab 6: Vision and speech recognition. |
|
Finish Lab 6 for homework. |
|
|
| Week 7 |
Mon 2/24 |
Backpropagation learning.
Demos: linfit.py,
approxfn .py,
approxfn2 .py,
approxfn3 .py,
mnist1 .py
|
|
|
|
| Wed 2/26 |
Convolutional networks.
Demos: mnist1.py,
mnist2.py,
mnist3.py
|
|
Read the demo source code. |
|
| Fri 2/28 |
Lab 7: PyTorch and Neural Networks. |
|
|
|
|
| Week 8 |
Mon 3/2 |
Code Lab. |
|
Try out Scratch 3.0. |
|
| Wed 3/4 |
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.
|
|
| Fri 3/6 |
Mid-semester break. No class/lab. |
|
|
|
|
| Week 9 |
Mon 3/9 |
Spring break: no class. |
|
|
|
| Wed 3/11 |
Spring break: no class. |
|
|
|
| Fri 3/13 |
Spring break: no class. |
|
|
|
|
| Week 10 |
Mon 3/16 |
No class. Transitioning to Zoom. |
|
|
|
| Wed 3/18 |
Machine learning in Python: scikit-learn.
Demo: emdemo.py
Demo: RGBClusterer.fsm,
RGBClusterer.py |
|
|
|
| Fri 3/20 |
Remote use of REL machines. ALVINN. |
|
|
|
|
| Week 11 |
Mon 3/23 |
Manipulation, with
videos. |
|
|
|
| Wed 3/26 |
ALVINN (continued) |
|
|
|
| Fri 3/27 |
Lab 8: ALVINN and Calypso. |
|
|
|
|
| Week 12 |
Mon 3/30 |
Lab: TBD |
|
|
|
| Wed 4/1 |
Lab: TBD |
|
|
|
| Fri 4/3 |
Lab: TBD |
|
|
|
|
| Week 13 |
Mon 4/6 |
Discussion of Project Ideas. |
|
|
|
| Wed 4/8 |
Work on final projects. |
|
|
|
| Fri 4/10 |
Work on final projects |
|
|
|
|
| Week 14 |
Mon 4/13 |
Work on final projects. |
|
|
|
| Wed 4/15 |
Work on final projects. |
|
|
|
| Fri 4/17 |
Work on final projects. |
|
|
|
|
| Week 15 |
Mon 4/20 |
ImageNet and transfer learning..
MobileNet demo.
|
|
|
|
| Wed 4/22 |
Work on final projects. |
|
|
|
| Fri 4/24 |
Work on final projects. |
|
|
|
|
| Week 16 |
Mon 4/27 |
Work on final projects. |
|
|
|
| Wed 4/29 |
Work on final projects. |
|
|
|
| Fri 5/1 |
Demos of your projects. |
|
|
Final project hand-in due by
Friday May 8. |
