Schedule (F18)
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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.
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Wed. 09/05. Visual Perception: Stereo Matching & Active Depth Sensing.
Readings: [HZ] Sec. 9, 10
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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
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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)
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Mon. 10/22. Video Lecture. (Ali Rahimi, “Let’s take machine learning from alchemy to electricity”).
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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.
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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)
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Wed. 11/21. No class (Thanksgiving Break)
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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.
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Wed. 12/05. Final Project Presentations (continued).
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Mon. 12/10. No class
Assignments: Final project report due.