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Cognitive Robotics >> Content Detail



Lecture Notes



Lecture Notes

The lecture notes from the class are given here. All guest lectures are courtesy of the lecturer named and used with permission.


Lec #TOPICS
1Introduction to Cognitive Robotics (PDF 1) (PDF 2)

Learning Objectives, Remote Explorers, Model-based Programming
Robots that Deftly Navigate
2Kinodynamic 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)
3Introduction to Simultaneous Localization and Mapping (SLAM) (Guest: Paul Robertson) (PDF)

Localization, SLAM, Kalman Filter, Large Scale SLAM
4Vision Based SLAM (Guest: Paul Robertson) (PDF)

Topological Maps, Hidden Markov Models (HMM), SIFT, Vision-based Localization
Deducing State and Diagnosing Failure
5Model-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
6Solving Optimal CSPs through Conflict-Learning (PDF)

Optimal Constraint Satisfaction Problems, Constraint-based A*, Conflict-directed A*, Conflict Extraction
Reasoning About Soft Constraints
7Soft 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
8Solving 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
9Mission-level Task Planning (Guest: Robert Tappan Morris) (PDF)

Partial Order Planning, Constraint-based Interval Planning, and Simple Temporal Networks (STNs)
10Dynamic Plan Execution Under Uncertainty (PDF)

STNS, Dispatchable Networks and Dispatching Execution, STNUs, Strong and Dynamic Controllability
11Mixed Human Robotic Exploration (Guest: Jeff Hoffman)
Robots that Plan on the Fly
12Hidden State and Model-based Reactive Planning (PDF)

Universal Planning, Structure Decomposition for Model-based Reactive Planning (MRP), Binary Decision Diagrams, Symbolic MRP
13Continuous, Incremental Path Planning and Exploration (PDF 1) (PDF 2 - 1.8 MB)

Single Source Shortest Path, D*, LRTA*
14Planning 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
15Model-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
16Cognitive 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
17Mode 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)
18Particle Filters and their Applications (Student Presenters: Kaijen Hsiao, Jason Miller, and Henry Lefebvre de Plinval-Salgues)

Particle Filters in SLAM in Fault Diagnosis
19Hello Computer? (Student Presenters: Shuonan Dong, Shen Qu, and Thomas Coffee)

SharedPlan, Plan Recognition, and COLLAGEN
20Advanced 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
21Visual Interpretation using Probabilistic Grammars (Guest: Paul Robertson) (PDF)

Statistical Parsing, Image Segmentation, Monte Carlo Methods, Language Learning
22Safe 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
23Working with and Learning from Humans as Partners (Guest: Cynthia Breazeal)

Multi-modal Communication, Human-robot Teamwork, Socially Guided Learning
24Nursebot: 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
25Project Demonstrations
26Project Demonstrations (cont.)

 








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