The lecture notes from the class are given here. All guest lectures are courtesy of the lecturer named and used with permission.
| Lec # | TOPICS | |
|---|---|---|
1 |
Introduction to Cognitive Robotics (PDF 1) (PDF 2) Learning Objectives, Remote Explorers, Model-based Programming | |
Robots that Deftly Navigate | ||
2 |
Kinodynamic and Randomized Path Planning (PDF - 1.5 MB) Review of Configuration Spaces, Visibility Graphs, Voronoi Diagrams, Potential Fields, and Cell Decomposition Kino-dynamic Planning, Planning with Moving Obstacles, Probabilistic Roadmaps (PRMs), Rapidly Exploring Random Trees (RRTs) | |
3 |
Introduction to Simultaneous Localization and Mapping (SLAM) (Guest: Paul Robertson) (PDF) Localization, SLAM, Kalman Filter, Large Scale SLAM | |
4 |
Vision Based SLAM (Guest: Paul Robertson) (PDF) Topological Maps, Hidden Markov Models (HMM), SIFT, Vision-based Localization | |
Deducing State and Diagnosing Failure | ||
5 |
Model-based Diagnosis and Mode Estimation (PDF) Consistency-based Diagnosis: Candidates, Conflicts, Diagnoses, and Kernel Diagnoses Conflict Extraction and Candidate Generation, Mode Estimation and Probabilistic Diagnosis, Active Probing | |
6 |
Solving Optimal CSPs through Conflict-Learning (PDF) Optimal Constraint Satisfaction Problems, Constraint-based A*, Conflict-directed A*, Conflict Extraction | |
Reasoning About Soft Constraints | ||
7 |
Soft Constraint Satisfaction Problems (SCSPs) (Guest: Martin Sachenbacher) Valued Constraint Satisfaction Problems (VCSPs), Branch-and-bound Search for Soft Constraints, Variable Elimination for Soft Constraints, Tree Decomposition, Dynamic Programming | |
8 |
Solving CSPs and SCSPS via Decomposition and Abstraction (Guest: Martin Sachenbacher) Reduced Ordered Binary Decision Diagrams (ROBDDs), Representing and Manipulating Soft Constraints using Algebraic Decision Diagrams (ADDs) | |
Planning Complex Missions | ||
9 |
Mission-level Task Planning (Guest: Robert Tappan Morris) (PDF) Partial Order Planning, Constraint-based Interval Planning, and Simple Temporal Networks (STNs) | |
10 |
Dynamic Plan Execution Under Uncertainty (PDF) STNS, Dispatchable Networks and Dispatching Execution, STNUs, Strong and Dynamic Controllability | |
11 | Mixed Human Robotic Exploration (Guest: Jeff Hoffman) | |
Robots that Plan on the Fly | ||
12 |
Hidden State and Model-based Reactive Planning (PDF) Universal Planning, Structure Decomposition for Model-based Reactive Planning (MRP), Binary Decision Diagrams, Symbolic MRP | |
13 |
Continuous, Incremental Path Planning and Exploration (PDF 1) (PDF 2 - 1.8 MB) Single Source Shortest Path, D*, LRTA* | |
14 |
Planning with POMDPs (Student Presenters: Brian Bairstow, Tony Jimenez, and Larry Bush) An Introduction to the Fundamentals of POMDPs, State of the Art in POMDP Research, A Pedagogical Explanation of the Respective Algorithm | |
15 |
Model-based, Multi-Agent Reasoning in Texas Hold'em Poker (Student Presenters: Brian Edward Mihok and Michael Terry) Leading Techniques in Games Reasoning, Emphasis on Uncertainty Techniques Hidden Markov Models and Bayesian Inference, Neural Networks | |
16 |
Cognitive Game Theory (Student Presenters: Justin Fox, Jeremie Pouly, and Jennifer Novosad) Alpha-Beta and its Extensions An Evolutionary Algorithm Applied to Chess Inductive Adversary Modeler | |
17 |
Mode Estimation for Hybrid Discrete/Continuous Systems (Student Presenters: Lars Blackmore) Trajectory Tracking for Constraint-based HMMs, Gaussian Filtering for Hybrid HMMs (K-Best and Rao-Blackwell Particle Filtering) | |
18 |
Particle Filters and their Applications (Student Presenters: Kaijen Hsiao, Jason Miller, and Henry Lefebvre de Plinval-Salgues) Particle Filters in SLAM in Fault Diagnosis | |
19 |
Hello Computer? (Student Presenters: Shuonan Dong, Shen Qu, and Thomas Coffee) SharedPlan, Plan Recognition, and COLLAGEN | |
20 |
Advanced Topics in Bayesian Networks (Student Presenters: Tom Temple, Ethan Howe, and James Lenfestey) Dynamic Bayes Networks, Exact Inference, Approximate Inference (PF), Learning, Probabilistic Relational Models, Parameter/Structure Estimation | |
Sensing and Manipulating at the Cognitive Level | ||
21 |
Visual Interpretation using Probabilistic Grammars (Guest: Paul Robertson) (PDF) Statistical Parsing, Image Segmentation, Monte Carlo Methods, Language Learning | |
22 |
Safe Execution of Bipedal Walking Tasks (Guest: Andreas Hoffman) Motivation and Requirements, Bipedal Balance Control Strategies, Common Control Approaches (and their Failings), Task-level Control using Model-based Executives, Whole-body Control | |
Human - Robot Interaction | ||
23 |
Working with and Learning from Humans as Partners (Guest: Cynthia Breazeal) Multi-modal Communication, Human-robot Teamwork, Socially Guided Learning | |
24 |
Nursebot: Dialogue as a Decision Making Process (Guest: Nick Roy) (PDF - 2.5 MB) Model-based Dialog Management, Hierarchical Planning under Uncertainty, Reinforcement Learning for Human Interaction | |
25 | Project Demonstrations | |
26 | Project Demonstrations (cont.) | |