Schedule (F2020)
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Mon. 08/31. Introduction. Common sensing approaches.
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Wed. 09/02. Sensing (continued). The Robot Operating System (ROS)
Assignment: Paper request form is out - see Canvas for the link. -
Mon. 09/07. Visual Perception: Pinhole Camera Model.
Video Assignment: Self-Driving Cars Of The Near Future by Raquel Urtasun (Quiz 1 to be completed in Canvas by the start of the class)
Programming Assignments: Assignment 1 is published. -
Wed. 09/09. Visual Perception: Pinhole Camera Model (continued), Stereo, Active Depth Sensing.
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Mon. 09/14. Pose Estimation and On-Body Interactions. (student presentations)
Readings: ViBand.
Assignments: Assignment 1 is due. Assignment 2 out. -
Wed. 09/16. Recursive State Estimation (part 1, Kalman Filters).
Video Assignment: Probability recap (Quiz 2 to be completed in Canvas by the start of class).
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Mon. 09/21. Recursive State Estimation (part 2, Particle Filters).
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Wed. 09/23. Recursive State Estimation: Applications. (student presentations)
Readings: Detecting Moving Objects using a Single Camera on a Mobile Robot.
Assignments: Assignment 2 due. Assignment 3 out. -
Mon. 09/28. Recursive State Estimation (continued) and Function Approximation via Feed-Forward Neural Networks (NN). (student presentations)
Readings: AnglePose.
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Wed. 09/30. Function Approximation: Convolutional and Recurrent NN.
Video Assignment: Ali Rahimi, “Let’s take machine learning from alchemy to electricity” (Quiz 3 to be completed in Canvas by the beginning of class).
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Mon. 10/05. Function Approximation: Applications. (student presentations)
Readings: Generalized Speech Animation; Deep Appearance Models for Face Rendering.
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Wed. 10/07. Function Approximation: Applications. (student presentation)
Readings: YOLO, Looking to Listen at the Cocktail Party
Assignments: Assignment 3 due. Assignment 4 out. -
Mon. 10/12. Function Approximation: Practical Tips.
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Wed. 10/14. Generative Adversarial NN & Applications on Spatial Reasoning.
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Mon. 10/19. Sequential Decision Making: Markov Decision Processes & Imitation Learning (IL)
Video Assignment: Planning recap(Quiz 4 to be completed in Canvas by the beginning of class).
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Wed. 10/21. Sequential Decision Making: IL for Autonomous Driving. (student presentations)
Readings: Agile Autonomous Driving; Learning from Interventions.
Assignments: Assignment 4 due. -
Mon. 10/26. Sequence Prediction Revisited. (student presentations)
Readings: Inference Machines; Differentiable Particle Filters.
Assignments: Assignment 5 out. -
Wed. 10/28. Sequential Decision Making: Reinforcement Learning (RL)
Readings: [SB 2nd Ed.] Ch. 6. -
Fri. 10/30. No class. Assignment Due.
Assignments: Project proposal due. -
Mon. 11/02. Sequential Decision Making: RL for Games (student presentations)
Readings: DQN; Mastering the Game of Go. -
Wed. 11/04. Sequential Decision Making: RL in Robotics. (student presentations)
Readings: Making Sense of Vision and Touch, Learning hand-eye coordination for robotic grasping (pre-recorded video should be watched by next Monday).
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Mon. 11/09. Sequential Decision Making: Inverse Reinforcement Learning (IRL).
Assignments: Assignment 5 due. -
Wed. 11/11. Sequential Decision Making: IRL Applications. (student presentations)
Video Assignment: Emma Brunskill at the 2019 Human-Centered AI Symposium (Quiz 5 to be completed in Canvas by the beginning of class).
Readings: Probabilistic Pointing Target Prediction; Generative Adversarial Imitation Learning. -
Mon. 11/16. Invited Lecture: James Kennedy (Disney Research)
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Wed. 11/18. Invited Lecture: Sean Andrist (Microsoft Research)
Assignments: Project milestone due. -
Mon. 11/23. No class (November Recess)
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Wed. 11/25. No class (November Recess)
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Mon. 11/30. Final Project Presentations.
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Wed. 12/02. Final Project Presentations (continued).
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Mon. 12/09. No class. Just an assignment due date.
Assignments: Final project reports, videos & supplementary are due.