| Class # | Date | Topic | Reading | Assignment | Due | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | Tue, Jan 17 | Class Introduction | Syllabus | Class Project | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 2 | Thu, Jan 19 | ROS Introduction | ROS Installation (PR2 Electric) ROS Tutorials (beginner level 1-9) | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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| 3
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| Tue, Jan 24
| Coordinate Frames in 3D
| Craig: Chapters 1-2
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| 4
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| Thu, Jan 26
| ROS: Moving Data
| ROS Tutorials II (beginner level 10-19)
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| 5
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| Tue, Jan 31
| Robot Kinematics
| Craig: Chapter 3
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| 6
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| Thu, Feb 2
| ROS: PR2 Simulation
| PR2 Simulator
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| 7
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| Tue, Feb 7
| Robot Kinematics II
| n/a
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| 8
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| Thu, Feb 9
| Demonstrations and Discussions
| n/a
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| 9
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| Tue, Feb 14
| Mapping and Navigation
| Thrun et al. (2004) Simultaneous Localization and Mapping with Sparse Extended Information Filters, International Journal of Robotics Research |
| 10
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| Thu, Feb 16
| Demonstrations and Discussions
| n/a
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| 11
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| Tue, Feb 21
| Thrun continued
| n/a
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| 12
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| Thu, Feb 23
| Demonstrations and Discussions
| n/a
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| 13
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| Tue, Feb 28
| Planning for Manipulators
| Marder-Eppstein et al. (2010), The Office Marathon: Robust Navigation in an Indoor Office Environment | Konolige et al. (2011) Navigation in Hybrid Metric-Topological Maps
| 14
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| Thu, Mar 1
| Demonstrations and Discussions
| n/a
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| 15
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| Tue, Mar 6
| Visual Processing and Point Clouds
| Sucan et al. Combining Planning Techniques for Manipulation Using Realtime Perception
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| 16
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| Thu, Mar 8
| Demonstrations and Discussions
| n/a
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| 17
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| Tue, Mar 13
| Grasping and Grasp Planning
| Goldfeder and Allen (2011) Data Driven Grasping Autonomous Robots, April, pp. 1-20 | Platt et al. (2010) Null Space Grasp Control: Theory and Experiments IEEE Transactions on Robotics, Vol 26, No 2, April
| 18
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| Thu, Mar 15
| Demonstrations and Discussions
| n/a
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| -
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| Tue, Mar 20
| Holiday
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| -
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| Thu, Mar 22
| Holiday
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| 19
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| Tue, Mar 27
| Representation of State for Planning and Learning
| Wolf et al. (2010) Combined Task and Motion Planning for Mobile Manipulation Proceedings of the Twentieth International Conference on Automated Planning and Scheduling | Platt et al. (2011) Efficient planning in non-Gaussian belief spaces and its application to robot grasping, Proceedings of the International Symposium on Robotics Research
| 20
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| Thu, Mar 29
| Demonstrations and Discussions
| n/a
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| 21
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| Tue, Apr 3
| Representation of State for Planning and Learning
| continue
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| 22
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| Thu, Apr 5
| Demonstrations and Discussions
| n/a
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| 23
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| Tue, Apr 10
| Affordances
| Stulp et al. (2012) Learning and Reasoning with Action-Related Places for Robust Mobile Manipulation
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| 24
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| Thu, Apr 12
| Demonstrations and Discussions
| n/a
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| 25
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| Tue, Apr 17
| Learning High-Level Control Policies
| TBA
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| 26
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| Thu, Apr 19
| Demonstrations and Discussions
| n/a
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| 27
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| Tue, Apr 24
| Learning from Demonstration
| Spriggs et al. (2009) Temporal Segmentation and Activity Classification from First-person Sensing
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| 28
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| Thu, Apr 26
| Demonstrations and Discussions
| n/a
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| 29
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| Tue, May 1
| Grounding Conceptual Knowledge
| TBA
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| 30
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| Thu, May 3
| Demonstrations and Discussions
| n/a
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| 31
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| Fri, May 11
| Final Project Presentations: 1:30-3:30
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| Project
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Back to CS 5970-002: Mobile Manipulation