CPSC-659 Building Interactive Machines
Course DescriptionSchedule (F18)Paper ReadingsFinal Project

Schedule (F18)

  • Wed. 08/29. Introduction.
    Assignments: Assignment -1 out (set up your private GitLab repository according to the Set Up instructions in the README). Assignment 0 out.

  • Fri. 08/31. Visual Perception: Projective Geometry & Pinhole Camera Model.
    Readings: [GBC] Ch. 2, [HZ] Ch. 3.1, 3.2, 6.2
    Assignments: GitLab account should be ready.

  • Mon. 09/03. No class. (Labor Day) – We met the prior Friday.

  • Wed. 09/05. Visual Perception: Stereo Matching & Active Depth Sensing.
    Readings: [HZ] Sec. 9, 10

  • Mon. 09/10. Recursive State Estimation: Kalman Filters.
    Readings: [TBF] Sec. 1.2, 1.3.
    Assignments: Assignment 0 due. Assignment 1 out.

  • Wed. 09/12. Visual Perception: Applications. (student presentations)
    Readings: RetroDepth; OmniTouch.

  • Mon. 09/17. Recursive State Estimation: Non-Parametric Filters.
    Readings: [TBF] Sec. 1.4.

  • Wed. 09/19. Recursive State Estimation: Applications. (student presentations)
    Readings: Monte Carlo Methods for Managing Interactive State, Action and Feedback; AnglePose

  • Mon. 09/24. Function Approximation: Feed-Forward Neural Networks (NN).
    Readings: Stanford’s CS231n Notes (Module 1); [GBC] Ch. 11.
    Assignments: Assignment 1 due.

  • Wed. 09/26. Function Approximation: Convolutional NN.
    Readings: Stanford’s CS321n Notes (Module 2, CNNs).
    Assignments: Assignment 2 out.

  • Mon. 10/01. Function Approximation: NN Applications. (student presentations)
    Readings: YOLO; Multi-Person 2D Pose Estimation.

  • Wed. 10/03. Function Approximation: Recurrent NN.
    Readings: [GBC] Ch. 10.

  • Mon. 10/08. Sequential Decision Making: Markov Decision Processes.
    Readings: Markov Decision Processes: Concepts and Algorithms

  • Wed. 10/10. Sequential Decision Making: Imitation Learning (IL).
    Readings: An Invitation to Imitation.

  • Fri. 10/12. Not a regular meeting day
    Assignments: Assignment 2 due.

  • Sun. 10/14. Not a regular meeting day
    Assignments: Assignment 3 out.

  • Mon. 10/15. Sequential Decision Making: IL for Autonomous Driving. (student presentations)
    Readings: Agile Autonomous Driving; On Offline Evaluation of Vision-based Driving Models.

  • Wed. 10/17. No class. (October Recess)

  • Mon. 10/22. Video Lecture. (Ali Rahimi, “Let’s take machine learning from alchemy to electricity”).

  • Wed. 10/24. Sequential Decision Making: IL for Robot Manipulation. (student presentations)
    Readings: Keyframe-based Learning from Demonstration; Neural Task Programming.

  • Sun. 10/28. Not a regular meeting day (just an assignment due day)
    Assignments: Assignment 3 due.

  • Mon. 10/29. Sequence Prediction Revisited. (student presentations)
    Readings: Inference Machines; Scheduled Sampling

  • Wed. 10/31. Sequential Decision Making: Reinforcement Learning (RL)
    Readings: [SB 2nd Ed.] Ch. 6

  • Fri. 11/02. Not a regular meeting day
    Assignments: Project proposal due.

  • Mon. 11/05. Sequential Decision Making: RL for Games (student presentations)
    Readings: DQN; Mastering the Game of Go.

  • Wed. 11/07. Sequential Decision Making: RL for Human-Robot Interaction. (student presentations)
    Readings: Modelling Empathy in Social Robotic Companions; Machine Learning for Social Multiparty Human–Robot Interaction.

  • Mon. 11/12. Sequential Decision Making: Inverse Reinforcement Learning (IRL).
    Readings: Apprenticeship Learning via IRL; Max. Ent. IRL.

  • Wed. 11/14. Sequential Decision Making: IRL Applications. (student presentations)
    Readings: Probabilistic Pointing Target Prediction; Feature-Based Prediction of Trajectories.

  • Sun. 11/18. Not a regular meeting day (just an assignment due day before the break)
    Assignments: Project milestone due.

  • Mon. 11/19. No class (Thanksgiving Break)

  • Wed. 11/21. No class (Thanksgiving Break)

  • Mon. 11/26. Other Applications: On-Body and Environment Interactions. (student presentations)
    Readings: ViBand; IllumiRoom

  • Wed. 11/28. Other Applications: Speech and Electrical Muscle Stimulation. (student presentations)
    Readings: Generalized Speech Animation; Affordance++

  • Mon. 12/03. Final Project Presentations.

  • Wed. 12/05. Final Project Presentations (continued).

  • Mon. 12/10. No class
    Assignments: Final project report due.

  • CPSC-659 Building Interactive Machines
  • marynel.vazquez@yale.edu