|
Date |
Lecture |
Office Hours |
Project/Assignment |
Hand-in |
| Week 1 |
Mon 1/15 |
No class. Martin Luther King holiday. |
|
|
|
| Wed 1/17 |
Course overview and introduction to Cozmo.
Videos: Chiara piano,
Chiara chess,
Calypso for Cozmo |
|
Reading: Ten Big Ideas in Robotics |
|
| Fri 1/19 |
Lab 1: Meet Cozmo |
|
Browse the IEEE Automaton blog
for photos and videos of cool robots. |
|
|
| Week 2 |
Mon 1/22 |
Robot software architecture and Python control structure. |
|
Read the slides from Beazley's 2009 coroutines lecture. Somehwat dated but still really good. |
|
| Wed 1/24 |
Finite state machines. |
|
Install cozmo-tools on your laptop. |
|
| Fri 1/26 |
Lab 2: Odometry |
|
Finish Lab 2 for homework. |
|
|
| Week 3 |
Mon 1/29 |
Lecture:
State machine misconceptions.
Lecture:
More state machines, and intro to particle filters. |
|
Try out particle_filter_demo
and pfdemo.py. |
|
| Tue 1/30 |
|
Joyce 5-6pm |
|
|
| Wed 1/31 |
Particle filters. |
|
If you would like to learn more, see these excellent
lectures
on probabilistic robotics. |
|
| Fri 2/2 |
Lab 3: Particle filters. |
|
Finish lab 3 for homework. |
Lab 2 due |
|
| Week 4 |
Mon 2/5 |
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 homogeneous
transformations and robot kinematics, by Jennifer Kay.
Watch: Denavit-Hartenberg Conventions |
|
| Tue 2/6 |
|
Joyce 5-6pm |
|
|
| Wed 2/7 |
The world map. |
|
Visualizing quaternions video series.
Play with quaternions.online (click the bars to change rotation). |
|
| Thu 2/8 |
|
Joyce 5-6pm |
|
|
| Fri 2/9 |
Lab 4: Kinematics. |
|
Finish Lab 4 for homework. |
Lab 3 due. |
|
| Week 5 |
Mon 2/12 |
More kinematics,
world maps, and SLAM
Videos:
Robot Navigation Using SLAM by Ibrahim Musba.
SLAM A 00 by Claus Brenner.
|
|
Watch:
Lidar vs. Vslam for robot vacuums. |
|
| Tue 2/13 |
|
|
|
|
| Wed 2/14 |
Path planning algorithms.
RRT Animation Gallery.
Videos: A* Search,
Tekkotsu hand/eye planner
|
|
|
|
| Thu 2/15 |
|
Joyce 5-6pm |
|
|
| Fri 2/16 |
Lab 5: Cozmo's path planner, and intro to SLAM. |
|
Finish Lab 5 for homework. |
Lab 4 due. |
|
| Week 6 |
Mon 2/19 |
Intro to OpenCV.
Demo: CircleWatcher.py
OpenCV part 2.
Shape matching.
Watershed algorithm
(more info).
Files: water_coins.jpg,
watershed.py.
Matplotlib slides.
Examples: PlotDrive.fsm,
PlotDrive.py;
and Histogram.fsm
Histogram.py
|
|
Browse OpenCV
Python Tutorials, specifically
on contours.
Matplotlib
usage. Matplotlib
tutorial info. |
|
| Tue 2/20 |
|
Joyce 5-6pm |
|
|
| Wed 2/21 |
Speech generation and recognition.
Demo: Speech1.fsm.
Google Speech API demo
Winograd's SHRDLU system, and a
modern version. |
Joyce 5:15-6:15 |
Read about SHRDLU.
Review regular expressions in Python. |
|
| Thu 2/22 |
|
none |
|
|
| Fri 2/23 |
Lab 6: Vision and speech recognition. |
|
Finish Lab 6 for homework. |
Lab 5 due |
|
| Week 7 |
Mon 2/26 |
Backpropagation learning.
Demos: linfit.py,
encoder .py,
approxfn .py,
approxfn2 .py,
approxfn3 .py,
mnist1 .py
|
|
|
|
| Tue 2/27 |
|
Joyce 5-6pm |
|
|
| Wed 2/28 |
Autonomous driving with ALVINN.
Watch the ALVINN video
|
|
Read the ALVINN demo source code. |
|
| Thu 2/29 |
|
Joyce 5-6pm |
|
|
| Fri 3/1 |
Lab 7: Neural Networks and ALVINN |
|
|
Lab 6 due |
|
| Week 8 |
Mon 3/4 |
Spring break: no class. |
|
|
|
| Wed 3/6 |
Spring break: no class. |
|
|
|
| Fri 3/8 |
Spring break: no lab. |
|
|
|
|
| Week 9 |
Mon 3/11 |
Convolutional networks.
Demos: mnist1.py,
mnist2.py,
mnist3.py
|
|
|
|
| Tue 3/12 |
|
Joyce 5-6pm |
|
|
| Wed 3/13 |
ImageNet and transfer learning.
Try these MobileNet demos. |
|
|
|
| Thu 3/14 |
|
Joyce 5-6pm |
|
|
| Fri 3/15 |
Lab 8: Convolutional Neural Networks. |
|
|
Lab 7 due |
|
| Week 10 |
Mon 3/18 |
Machine
learning in Python: scikit-learn.
Extra slides
on EM
algorithm.
Demo: emdemo.py
Demo: RGBClusterer.fsm,
RGBClusterer.py |
|
|
|
| Tue 3/19 |
|
Joyce 5-6pm |
|
|
| Wed 3/20 |
Transformer networks and large language models.. |
|
Word Embedding Demo
BERT-insight Demo
|
|
| Thu 3/21 |
|
Joyce 5-6pm |
|
|
| Fri 3/22 |
Lab 9: Large Language Models. |
|
|
Lab 8 due |
|
|
| Week 11 |
Mon 3/25 |
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.
|
|
|
| Tue 3/26 |
|
Joyce 5-6pm |
|
|
| Wed 3/27 |
Prompt engineering. Discussion of project ideas. |
|
Final projects from last year |
|
| Thu 3/28 |
|
Joyce 5-6pm |
|
|
| Fri 3/29 |
Lab 10: Calypso for Cozmo |
|
|
Lab 9 due |
|
|
| Week 12 |
Mon 4/1 |
Final project ideas.
Work on final projects. |
|
|
|
| Tue 4/2 |
|
Joyce 5-6pm |
|
|
| Wed 4/3 |
Work on final projects. |
|
|
|
|
| Fri 4/5 |
Work on final projects. |
|
|
Lab 10 due |
|
|
| Week 13 |
Mon 4/8 |
Work on final projects. |
|
|
|
| Tue 4/9 |
Spring Carnival |
|
|
|
| Wed 4/10 |
Work on final projects. |
|
|
|
|
| Fri 4/12 |
No lab. Spring Carnival |
|
|
|
|
|
| Week 14 |
Mon 4/15 |
Work on final projects. |
|
|
|
|
| Tue 4/16 |
|
Joyce 5-6pm |
|
|
| Wed 4/17 |
Work on final projects. |
|
|
|
|
| Fri 4/19 |
Work on final projects |
|
|
|
|
|
| Week 15 |
Mon 4/22 |
Work on final projects. |
|
|
|
|
| Tue 4/23 |
|
Joyce 5-6pm |
|
|
| Wed 4/24 |
Work on final projects. |
|
|
|
|
| Fri 4/26 |
Demos of your final projects. |
|
Final project hand-in due by Sunday May 5. |
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