||Introduction to Course & Project
Introduction to ROS and ROS Programming
||Labor Day (no class)|
||Service Robot Overview
for Integrating Perception, Learning and Control: case
studies of the
Stanford STAIR & CMU CoBots
(Prof. Eaton out-of-town)
1:30-2:10pm Meet with project teams
2:10pm - 2:50pm Meet with focus groups
||Architectures for Integrating Perception,
Learning and Control: the
DARPA Robotic Challenge
for Integrating Perception, Learning, and Control: Layered
(Fernando Cladera Ojeda)
||Discussion on Project Designs||Getting Started Due|
||Discussion on Project Designs (Continued)||Focus Group Designs Due|
||Deep Learning for Object Recognition & Scene Understanding||
Demos / Discussion
||Focus Group Progress Demo 1
|W 10/17||Inverse Reinforcement Learning||Other
||Lifelong Machine Learning
(Prof. Eaton out-of-town)
|Team Project Design Due|
||In-Class Working Session
(Prof. Eaton out-of-town)
||Progress Demos / Discussion||Focus Group Progress Demo 2|
||Progress Check-in / Intermediate Documentation Due|
|Team Demo 1 / Focus Group Progress Demo 3|
||Planning in Dynamic Environments||
(Friday class schedule)
||Anytime Path Planning/Re-planning||
||Team Progress Demo 2|
||Novel Object Grasping and Manipulation||TBA
||Grasping in Cluttered Environments||
||HRI: Learning from Demonstration||
||Team Progress Demo 3 / Initial Merge Deadline|
||Final Project Showcase
||All Final Project Submissions Due by 12/17|
In order for robots to operate alongside humans in complex, unstructured, uncertain environments, they require substantial intelligence. However, the field of artificial intelligence (AI) has fragmented into various subfields, each studying different aspects of intelligence in relative isolation. The problem of designing intelligent robotic systems that persist in everyday environments provides an opportunity to reintegrate these different aspects of AI into a complete intelligent system.
In this project-based seminar course, students will study and
develop an intelligent personal robot assistant, integrating
perception, manipulation, learning, planning, and interaction. The
resulting versatile robot will be capable of learning and
performing a variety of tasks in real-world environments and
collaborating effectively with humans. In addition, students will
study a variety of advanced AI topics, including high-level
perception and reasoning, scalable knowledge representation,
lifelong/multi-task learning, integration of perception and
control, learning from demonstration, and human-robot interaction.
This course will include two major components:
Although there are plenty of online resources on ROS, I would highly recommend that you pick up the following textbook:
Programming Robots with ROS: A Practical Introduction to the Robot Operating System (1st Edition)
by Morgan Quigley, Brian Gerkey, William D. Smart. O'Reilly.
We will study the following topics:
These topics and due dates are all subject to change. Readings
for each of these topics will include a variety of journal
articles, conference papers, and technical reports.
Key Due Dates
In addition to the major project milestone dates:
Eric Eaton, Ph.D.Please use Piazza for all course-content-related questions and personal issues, and Slack for all project-related questions/issues.
Attendance and active participation are
expected in every class. Participation includes asking questions,
contributing answers, proposing ideas, and providing constructive
As you will discover, I am a proponent of two-way communication and I welcome feedback during the semester about the course. I am available to answer student questions, listen to concerns, and talk about any course-related topic (or otherwise!). Come to office hours! This helps me get to know you. You are welcome to stop by and chat. There are many more exciting topics to talk about that we won't have time to cover in-class.
Please use Piazza for all course-content-related questions and personal issues, and Slack for all project-related questions/issues. I make an effort to respond to messages within 24 hours on weekdays and 48 hours on weekends. For private matters, be sure to use a private message on Piazza.
Although computer science and robotics work can be intense and solitary, please stay in touch with me and the other students in the course, particularly if you feel stuck on a topic or project and can't figure out how to proceed. Often a quick e-mail, face-to-face conference, or Piazza post can reveal solutions to problems and generate renewed creative and scholarly energy. It is essential that you begin assignments and projects early, since we will be covering a variety of challenging topics in this course.
Your grade will be based upon your paper summaries and reading journal, topic presentations, seminar participation, and the semester project. All assignments must be submitted according to the assignment submission instructions.
At the end of the semester, final grades will be calculated as a weighted average of all grades according to the following weights:
|Seminar and Course Participation:
|Project - Getting Started Task
|Project - Focus Group Design||3%
|Project - Team Project Proposal/Design||4%
|Project - Focus Group
|Project - Intermediate Milestone Performance
|Project - Final Report / Showcase / Documentation / Final Task Performance:||35%
All graded work will receive a percentage grade between 0% and
100%. Here is how the percentage grades will map to final
letter grades; percentages are not rounded:
||77% <=||C+ (2.3)|
|93% <=||A (4.0)||73% <=||C (2.0)|
|90% <=||A- (3.7)||70% <=||C- (1.7)|
|87% <=||B+ (3.3)||67% <=||D+ (1.3)|
|83% <=||B (3.0)||60% <=||D (1.0)|
|80% <=||B- (2.7)||< 60%
I want to encourage you to discuss the material and work together
to understand it. Here are my thoughts on collaborating with other
students, faculty, etc.:
The readings and seminar topics are GROUP WORK. Please discuss the readings and associated topics with each other. Work together to understand the material.
Although each team will be judged on its own performance, you are encouraged to collaborate across teams on the project. Share the difficulties you're having with each other, and work together to solve problems. However, you must credit the help from others!
You are also permitted to collaborate with people outside of
this course on the project. Just remember that the
project is ultimately your responsibility, and you will be
graded based on YOUR effort, not the effort of anyone external
to your team.
Any written aspect of the project is ISOLATED TEAM WORK -- the written documents must be completed solely by members of your team.
||Individual or Partnered Work
||Isolated Team Work
(only members of your focus group / project team)
(but remember, you will be graded on YOUR effort)
If you have any questions as to what types of collaborations are
allowed and which are dishonest, please ask me before you
make a mistake.