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Date |
Lecture |
Office Hours |
Project/Assignment |
Hand-in |
Week 1 |
Mon 1/14 |
Course overview and introduction to Cozmo. |
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Reading: Ten Big Ideas in Robotics |
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Wed 1/16 |
Robot software architecture and Python control structure. |
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Read the slides from Beazley's 2009 coroutines lecture. Somehwat dated but still really good. |
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Fri 1/18 |
Lab 1: Meet Cozmo! |
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Week 2 |
Mon 1/21 |
Dr. Martin Luther King Holiday. No classes today. |
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Wed 1/23 |
Finite state machines. |
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Fri 1/25 |
Lab 2: Odometry |
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Finish Lab 2 for homework. |
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Week 3 |
Mon 1/28 |
More state machines. Intro to particle filters. |
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Try out particle_filter_demo and pfdemo.py. |
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Wed 1/30 |
Particle filters. No class today; watch the videoinstead. |
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If you would like to learn more, see these excellent lectures on probabilistic robotics. |
Can Cozmo do this? |
Fri 2/1 |
Lab 3: Particle filters. |
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Finish Lab 3 for homework. |
Lab 2 due. |
Week 4 |
Mon 2/4 |
Lecture: Kinematics. Videos: Denavit-Hartenberg conventions, Towers of Hanoi, 3-dof arm IK, high-dof tentacle IK,tentacle manipulation Resource: numpy quick start. |
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Read: Introduction to homogenous transformations and robot kinematics, by Jennifer Kay. Watch: Denavit-Hartenberg Conventions |
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Wed 2/6 |
The world map. |
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Visualizing quaternions video series. Play with quaternions.online (click to begin). |
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Fri 2/8 |
Lab 4: Kinematics. |
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Finish Lab 4 for homework. |
Lab 3 due. |
Week 5 |
Mon 2/11 |
More kinematics, world maps, and SLAM Videos: Robot Navigation Using SLAM by Ibrahim Musba. SLAM A 00 by Claus Brenner. |
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Wed 2/13 |
Path planning algorithms. RRT Animation Gallery. Videos: A* Search, Tekkotsu hand/eye planner Intro to OpenCV. Demo: CircleWatcher.py |
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Browse OpenCV Python Tutorials, specifically on contours. |
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Fri 2/15 |
Lab 5: Cozmo's path planner, and intro to SLAM. |
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Finish Lab 5 for homework. |
Lab 4 due. |
Week 6 |
Mon 2/18 |
OpenCV part 2. Shape matching. Watershed algorithm (more info). Files: water_coins.jpg, watershed.py. Matplotlib. Examples: PlotDrive.fsm, PlotDrive.py; and Histogram.fsm Histogram.py |
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Matplotlib usage. Matplotlib tutorial info. |
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Wed 2/20 |
Speech generation and recognition. Demo: Speech1.fsm. Winograd's SHRDLU system, and a modern version. |
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Read about SHRDLU. Review regular expressions in Python. |
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Fri 2/22 |
Lab 6: RRTs, and color class learning. |
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Finish Lab 6 for homework. |
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Week 7 |
Mon 2/25 |
Backpropagation learning. Demos: linfit.py, approxfn .py, approxfn2 .py,approxfn3 .py, mnist1 .py |
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Wed 2/27 |
Convolutional networks. Demos: mnist1.py, mnist2.py, mnist3.py |
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Read the demo source code. |
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Fri 3/1 |
Lab 7: PyTorch and Neural Networks. |
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Week 8 |
Mon 3/4 |
Code Lab. |
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Try out Scratch 3.0. |
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Wed 3/6 |
Calypso for Cozmo. |
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Watch Calypso videos: intro, and keep-away tutorial. Have a look at the Calypso Curriculum. Then read Computational thinking and mental models: from Kodu to Calypso. |
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Fri 3/8 |
Mid-semester break. No class/lab. |
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Week 9 |
Mon 3/11 |
Spring break: no class. |
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Wed 3/13 |
Spring break: no class. |
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Fri 3/15 |
Spring break: no class. |
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Week 10 |
Mon 3/18 |
Machine learning in Python: scikit-learn. Demo: emdemo.py Demo: RGBClusterer.fsm, RGBClusterer.py |
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Wed 3/20 |
Manipulation, with videos. |
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Fri 3/22 |
Lab 8: using the GPU with Cozmo. |
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Week 11 |
Mon 3/25 |
Lab 9: auto-encoder networks. |
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Wed 3/27 |
Lab 10: cube auto-encoder. |
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Fri 3/29 |
Continuation of Lab 8. |
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Lab 8 due. |
Week 12 |
Mon 4/1 |
Continuation of labs 8 and 10. |
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Lab closed from 6pm Mon. until 1pm Wed. |
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Wed 4/3 |
Lab |
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Fri 4/5 |
Lab 12: Cozmo's Magic Dream House |
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Finish Lab 10. |
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Week 13 |
Mon 4/8 |
Discussion of Final Project Ideas. |
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Wed 4/10 |
Work on final projects. |
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Fri 4/12 |
No lab: Spring Carnival. |
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Week 14 |
Mon 4/15 |
Work on final projects. |
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Lab 13 due |
Wed 4/17 |
Work on final projects. |
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Fri 4/19 |
Work on final projects. |
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Week 15 |
Mon 4/22 |
Work on final projects. |
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Wed 4/24 |
Work on final projects. |
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Fri 4/26 |
Work on final projects. |
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Week 16 |
Mon 4/29 |
Work on final projects. |
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Wed 5/1 |
Work on final projects. |
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Fri 5/3 |
Public demo of your projects. |
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Final project hand-in due by Friday May 10. |