Difference between revisions of "Cognitive Robotics Lecture Plan"

From David Vernon's Wiki
Jump to: navigation, search
Line 11: Line 11:
 
! Homework exercises
 
! Homework exercises
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| Tues. 2/17
+
| Tues. 17 Jan.
 
| 1
 
| 1
 
| Cognitive robotics
 
| Cognitive robotics
Line 20: Line 20:
 
| Installation of software tools.  
 
| Installation of software tools.  
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| Thurs. 2/19
+
| Thurs. 19 Jan.
 
| 2  
 
| 2  
 
| Robot  vision I
 
| Robot  vision I
Line 29: Line 29:
 
|Image acquisition and image processing using OpenCV
 
|Image acquisition and image processing using OpenCV
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 2
+
| Tues. 24 Jan.
 
| 3
 
| 3
 
| Robot  vision II
 
| Robot  vision II
Line 38: Line 38:
 
| Hough transforms and colour segmentation using OpenCV
 
| Hough transforms and colour segmentation using OpenCV
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 2
+
| Thurs. 26 Jan.
 
| 4
 
| 4
 
| Robot  vision III
 
| Robot  vision III
Line 47: Line 47:
 
| Face detection and object recognition using OpenCV
 
| Face detection and object recognition using OpenCV
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 3
+
| Tues. 31 Jan.
 
| 5
 
| 5
 
|Robot  vision IV
 
|Robot  vision IV
Line 56: Line 56:
 
|Camera calibration
 
|Camera calibration
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 3
+
| Thurs. 2 Feb.
 
| 6
 
| 6
 
|Robot  vision V
 
|Robot  vision V
Line 65: Line 65:
 
|Analysis of point cloud data from RGB-D camera
 
|Analysis of point cloud data from RGB-D camera
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 4
+
| Tues. 7 Feb.
 
| 7
 
| 7
 
|Robot  vision VI
 
|Robot  vision VI
Line 74: Line 74:
 
|Implementation of a saliency function for covert attention
 
|Implementation of a saliency function for covert attention
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 4
+
| Thurs. 9 Feb.
 
| 8
 
| 8
 
|Mobile robots I
 
|Mobile robots I
Line 83: Line 83:
 
|Cozmo locomotion.
 
|Cozmo locomotion.
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 5
+
| Tues. 14 Feb.
 
| 9
 
| 9
 
|Mobile robots II
 
|Mobile robots II
Line 92: Line 92:
 
|Cozmo landmark recognition.
 
|Cozmo landmark recognition.
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 5
+
| Thurs. 16 Feb.
 
| 10
 
| 10
 
|Mobile robots III
 
|Mobile robots III
Line 101: Line 101:
 
|Cozmo landmark recognition
 
|Cozmo landmark recognition
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 6
+
| Tues. 21 Feb.
 
| 11
 
| 11
 
|Mobile robots IV
 
|Mobile robots IV
Line 110: Line 110:
 
|Cozmo object recognition
 
|Cozmo object recognition
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 6
+
| Tues. 23 Feb.
 
| 12
 
| 12
 
|Mobile robots V
 
|Mobile robots V
Line 119: Line 119:
 
|Cozmo navigation  
 
|Cozmo navigation  
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 7
+
| Tues. 18 Feb.
 
| 13
 
| 13
 
|Robot arms I
 
|Robot arms I
Line 128: Line 128:
 
|Move end-effector along various paths in joint space
 
|Move end-effector along various paths in joint space
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 7
+
| Thurs. 2 Mar.
 
| 14
 
| 14
 
|Robot arms II
 
|Robot arms II
Line 137: Line 137:
 
|Move end-effector along various paths in Cartesian frame of reference
 
|Move end-effector along various paths in Cartesian frame of reference
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 8
+
| Tues. 7 Mar.
 
| 15
 
| 15
 
|Robot arms III
 
|Robot arms III
Line 146: Line 146:
 
|Compute the pose of a light cube
 
|Compute the pose of a light cube
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 8
+
| Thurs. 9 Mar.
 
| 16
 
| 16
 
|Robot arms IV
 
|Robot arms IV
Line 155: Line 155:
 
|Implement a program to move light cube from one position/pose to another position/pose
 
|Implement a program to move light cube from one position/pose to another position/pose
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 9
+
| Tues. 14 Mar.
 
| 17
 
| 17
 
|Cognitive architectures I
 
|Cognitive architectures I
Line 164: Line 164:
 
|Group discussion on which cognitive architectures are suitable for cognitive robotics
 
|Group discussion on which cognitive architectures are suitable for cognitive robotics
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 9
+
| Thurs. 16 Mar.
 
| 18
 
| 18
 
|Cognitive architectures II
 
|Cognitive architectures II
Line 173: Line 173:
 
|CRAM test programs
 
|CRAM test programs
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 10
+
| Tues. 21 Mar.
 
| 19
 
| 19
 
|Cognitive architectures III
 
|Cognitive architectures III
Line 182: Line 182:
 
|OpenEASE test programs
 
|OpenEASE test programs
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 10
+
| Thurs. 23 Mar.
 
| 20
 
| 20
 
|Learning and development I
 
|Learning and development I
Line 191: Line 191:
 
|Hebbian learning
 
|Hebbian learning
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 10
+
| Tues. 28 Mar.
 
| 21
 
| 21
 
|Learning and development II
 
|Learning and development II
Line 200: Line 200:
 
|PSL test programs
 
|PSL test programs
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 11
+
| Thurs. 30 Mar.
 
| 22
 
| 22
 
|Learning and development III
 
|Learning and development III
Line 209: Line 209:
 
|PSL test programs
 
|PSL test programs
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 12
+
| Tues. 4 Apr.
 
| 23
 
| 23
 
|Learning and development IV
 
|Learning and development IV
Line 218: Line 218:
 
|
 
|
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 12
+
| Thurs. 6 Apr.
 
| 24
 
| 24
 
|Memory and Prospection
 
|Memory and Prospection
Line 227: Line 227:
 
|Implementation of episodic memory on Cozmo
 
|Implementation of episodic memory on Cozmo
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 13
+
| Tues. 18 Apr.
 
| 25
 
| 25
 
|Internal simulation I
 
|Internal simulation I
Line 236: Line 236:
 
|PSL test programs
 
|PSL test programs
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 13
+
| Thurs. 20 Apr.
 
| 26
 
| 26
 
|Internal simulation II
 
|Internal simulation II
Line 245: Line 245:
 
|HAMMER tutorial using the ICL library
 
|HAMMER tutorial using the ICL library
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 14
+
| Tues. 25 Apr.
 
| 27
 
| 27
 
|Social interaction I
 
|Social interaction I
Line 254: Line 254:
 
|Perspective taking using the ICL library.
 
|Perspective taking using the ICL library.
 
|- style="vertical-align: top;"
 
|- style="vertical-align: top;"
−
| 14
+
| Thurs. 27 Apr.
 
| 28
 
| 28
 
|Social interaction II
 
|Social interaction II
Line 262: Line 262:
 
|Vernon (2014), Chapter 9.
 
|Vernon (2014), Chapter 9.
 
|Perspective taking using the ICL library
 
|Perspective taking using the ICL library
 +
|- style="vertical-align: top;"
 +
| Tues. 2 May
 +
| 29
 +
|
 +
|
 +
|
 +
|
 +
|
 +
|
 +
|- style="vertical-align: top;"
 +
| Thurs. 5 May
 +
| 30
 +
|
 +
|
 +
|
 +
|
 +
|
 +
|
 
|}
 
|}
 
</small>
 
</small>

Revision as of 03:10, 27 December 2016

Date Lecture Topic Material covered Required hardware Required software Pre-class reading Homework exercises
Tues. 17 Jan. 1 Cognitive robotics Introduction to AI and cognition in robotics. Industrial requirements. Artificial cognitive systems. Cognitivist, emergent, and hybrid paradigms in cognitive science. Autonomy. Introduction to OpenCV and course software and hardware. None None Vernon (2014), Chapters 1, 2, and 4. Installation of software tools.
Thurs. 19 Jan. 2 Robot  vision I Optics, sensors, and image formation. Image acquisition. Image filtering. Edge detection. Introduction to OpenCV. USB camera OpenCV Kragic and Vincze (2010). Szeliski (2010), Sections 1.1, 1.2, 2.3, 3.2, 4.2. Vernon (1991), Sections 2.1, 2.1 Image acquisition and image processing using OpenCV
Tues. 24 Jan. 3 Robot  vision II Segmentation. Hough transform: line, circle, and generalized transform; extension to codeword features. Colour-based segmentation. USB camera OpenCV Szeliski (2010), Sections 3.1.2, 3.3.4, 4.3.2. Vernon (1991), Section 3.1, 3.2, 3.3, 4.2.1, 4.2.2, 5.3, 6.4. Hough transforms and colour segmentation using OpenCV
Thurs. 26 Jan. 4 Robot  vision III Object recognition. Interest point operators. Gradient orientation histogram - SIFT descriptor. Colour histogram intersection. Haar features, boosting, face detection. USB camera OpenCV, Vienna University of Technology BLORT Library Szeliski (2010), Sections 4.1.2, 4.1.3, 4.1.4, 4.1.5, 14.1.1. Face detection and object recognition using OpenCV
Tues. 31 Jan. 5 Robot  vision IV Homogeneous coordinates and transformations. Perspective transformation. Camera model and inverse perspective transformation. Stereo vision. Epipolar geometry. Structured light & RGB-D cameras. USB camera OpenCV Szeliski (2010), Sections 2.1, 11.1, 11.2, 11.3. Vernon (1991), Section 8.6, 9.4.2. Camera calibration
Thurs. 2 Feb. 6 Robot  vision V Plane pop-out. RANSAC. Differential geometry. Surface normals and Gaussian sphere. Point clouds. 3D descriptors. Kinect RGB-D sensor Technische Universität Wien RGB-D Segmentation Library and V4R Library Szeliski (2010), Sections 12.4. Point Cloud Library tutorial. Analysis of point cloud data from RGB-D camera
Tues. 7 Feb. 7 Robot  vision VI Visual attention. Spatial & selective attention. Saliency functions. Selective Tuning. Overt attention. Inhibition of return. Habituation. Top-down attention. USB camera CINDY cognitive architecture Implementation of a saliency function for covert attention
Thurs. 9 Feb. 8 Mobile robots I Differential drive locomotion. Forward and inverse kinematics. Holonomic and non-holonomic constraints. Cozmo mobile robot. Anki Cozmo mobile robot Anki Cozmo SDK, OpenCV Python tutorial. Cozmo SDK API. OpenCV Python tutorial. Cozmo locomotion.
Tues. 14 Feb. 9 Mobile robots II Relative and absolute position estimation. Odometry. Anki Cozmo mobile robot Anki Cozmo SDK, OpenCV Python tutorial. Cozmo SDK API. OpenCV Python tutorial. Cozmo landmark recognition.
Thurs. 16 Feb. 10 Mobile robots III Map representation. Probabilistic map-based localization. Landmark-based localization. Anki Cozmo mobile robot Anki Cozmo SDK, OpenCV Python tutorial. Cozmo SDK API. OpenCV Python tutorial. Cozmo landmark recognition
Tues. 21 Feb. 11 Mobile robots IV SLAM: simultaneous localization and mapping. Extended Kalman Filter (EKF) SLAM. Visual SLAM. Particle filter SLAM. Anki Cozmo mobile robot Anki Cozmo SDK, OpenCV Python tutorial. Cozmo SDK API. OpenCV Python tutorial. Cozmo object recognition
Tues. 23 Feb. 12 Mobile robots V Graph search path planning. Potential field path planning. Navigation. Obstacle avoidance. Object search. Anki Cozmo mobile robot Anki Cozmo SDK, OpenCV Python tutorial. Cozmo SDK API. OpenCV Python tutorial. Cozmo navigation
Tues. 18 Feb. 13 Robot arms I Homogeneous transformations. Frame-based pose specification. Denavit-Hartenberg specifications. Robot kinematics. Lynxmotion 5DoF arm, Arduino interface Arduino sketch programs for Lynxmotion Paul (1981), Chapters 1 & 2. Move end-effector along various paths in joint space
Thurs. 2 Mar. 14 Robot arms II Analytic inverse kinematics. Iterative approaches. Kinematic structure learning. Kinematics structure correspondences. Lynxmotion 5DoF arm, Arduino interface Arduino sketch programs for Lynxmotion Paul (1981), Chapter 3. Move end-effector along various paths in Cartesian frame of reference
Tues. 7 Mar. 15 Robot arms III Robot manipulation. Frame-based task specification. Vision-based pose estimation. Lynxmotion 5DoF arm, Arduino interface Arduino sketch programs for Lynxmotion Vernon (1991), Sections 8.1-8.4. Compute the pose of a light cube
Thurs. 9 Mar. 16 Robot arms IV Programming by demonstration. Language-based programming. Lynxmotion 5DoF arm, Arduino interface Arduino sketch programs for Lynxmotion Vernon (1991), Sections 8.1-8.4 Implement a program to move light cube from one position/pose to another position/pose
Tues. 14 Mar. 17 Cognitive architectures I Role and requirements; cognitive architecture schemas; example cognitive architectures including Soar, ACT-R, Clarion, LIDA, and ISAC. The Standard Model. Vernon (2014) Chapter 3. Chella et al. (2013). Scheutz et al. (2013). Vernon et al. (2016). Group discussion on which cognitive architectures are suitable for cognitive robotics
Thurs. 16 Mar. 18 Cognitive architectures II CRAM: Cognitive Robot Abstract Machine. CRAM Plan Language (CPL). KnowRob knowledge processing and reasoning CRAM Beetz et al. (2010) CRAM test programs
Tues. 21 Mar. 19 Cognitive architectures III Knowledge representation, processing, and reasoning. KnowRob and OpenEASE Beetz et al. (2015) OpenEASE test programs
Thurs. 23 Mar. 20 Learning and development I Supervised, unsupervised, and reinforcement learning. Hebbian learning. MaxHebb library Harmon and Harmon (1997) Hebbian learning
Tues. 28 Mar. 21 Learning and development II Predictive sequence learning (PSL). Anki Cozmo mobile robot Anki Cozmo SDK, PSL library Sun and Giles (2001). Billing et al. (2011, 2016). PSL test programs
Thurs. 30 Mar. 22 Learning and development III Learning from demonstration Anki Cozmo mobile robot Anki Cozmo SDK, PSL library Vernon (2014), Chapters 6 & 8. Billard et al. (2008). Argall (2009). PSL test programs
Tues. 4 Apr. 23 Learning and development IV Cognitive development in humans and robots. Value systems for developmental and cognitive robots. Vernon (2014), Chapters 6 & 9. Lungarella et al. (2003). Asada et al. (2009). Cangelosi and Schlesinger (2015), Chapters 1 & 2. Merrick (2016). Vernon et al. (2016).
Thurs. 6 Apr. 24 Memory and Prospection Declarative vs. procedural memory. Semantic memory. Episodic memory Anki Cozmo mobile robot Anki Cozmo SDK, CINDY library, OpenCV Vernon (2014), Chapter 7. Implementation of episodic memory on Cozmo
Tues. 18 Apr. 25 Internal simulation I Episodic future thinking. Forward and inverse models. Internal simulation hypothesis, Internal simulation with PSL Anki Cozmo mobile robot Anki Cozmo SDK, PSL library Vernon (2014), Chapter 8. Billing et al. (2016). PSL test programs
Thurs. 20 Apr. 26 Internal simulation II HAMMER cognitive architecture Boost, Imperial College London HAMMER library Demiris and Khadhouri (2006). Sarabia et al. (2011). HAMMER tutorial using the ICL library
Tues. 25 Apr. 27 Social interaction I Joint action. Joint attention. Shared intention. Shared goals. Perspective taking. Theory of mind. Kinect RGB-D sensor Ubuntu 14.04, ROS, Imperial College London Perspective Taking library Vernon (2014), Chapter 9. Fisher and Demiris 2016. Perspective taking using the ICL library.
Thurs. 27 Apr. 28 Social interaction II Action and intention recognition. Embodied cognition. Humanoid robotics. Kinect RGB-D sensor Ubuntu 14.04, ROS, Imperial College London Perspective Taking library. Vernon (2014), Chapter 9. Perspective taking using the ICL library
Tues. 2 May 29
Thurs. 5 May 30


Back to Cognitive Robotics

Retrieved from "http://www.vernon.eu/w/index.php?title=Cognitive_Robotics_Lecture_Plan&oldid=1062"