CS 6731, Spring 2019 - Class Schedule

Date	Lecture Materials	Readings/Homeworks
Class 1: Jan. 22	Humanoids Overview DARPA Robotics Challenge Video Humanoid Robotics News Humanoids: Motivation, Challenges, History, Hardware, Design and Sensing ( Slides )	Reading Assignment Humanoids by Charles C. Kemp, Paul Fitzpatrick, Hirohisa Hirukawa, Kazuhito Yokoi, Kensuke Harada, and Yoshio Matsumoto. Chapter 67., Springer Handbook of Robotics , Springer, 2016. Case Study: Cosero Robot
Class 2: Jan. 29	Humanoid Robots Case Studies Cosero Robot Sony QRIO Robot , video ARMAR Robot , video Honda Asimo , video Humanoid Research at Waseda University Robonaut 2 - The first humanoid robot in space 2011 IEEE International Conference on , vol., no., pp.2178-2183, 9-13 May 2011 Willow Garage PR2 MIT COG , video Hubo , related paper iCub Robot and slides Nao Robot	Assignment: Sign up by Feb. 5 for a paper presentation on a topic in Humanoid Robots ROS TUTORIAL and ROS Setup: In next week's class we will go over how to use ROS with simulated humanoid robots. This tutorial will give you background info on how to use ROS (Robotic Operating System) . Programming Assignment: Due Mar. 5
Class 3: Feb. 5	ROS Tutorial ROS Tutorial	Reading Assignment Read Reinforcement Learning in Robotics by Kober, Bagnall and Peters.
Class 4: Feb. 12	Overview of Robotic Learning Reinforcement Learning in Robotics guest lecture by Ireti Akinola Learning from Humans by Aude Billard, Sylvain Calinon, Rudiger Dillmann Slides Ikea Assembly by LBD with video Project Idea: Robot barista!	Reading Assignment Read A Brief Survey of Deep Reinforcement Learning by Kai Arulkumaran, Marc Peter Deisenroth, Miles Brundage, Anil Anthony Bharath
Class 5: Feb. 19	Robot Learning Papers Mehmet Sonmez, Unsupervised Perceptual Rewards For Imitation Learning --->Slides Wenhao Li: Time-Contrastive Networks: Self-Supervised Learning from Video--->Slides Qiang Ma: End-to-End Training of Deep Visuomotor Policies--->Slides Jerry Zhang: Visual Foresight: Model Based Deep Reinforcemtn Learning for VisualBased Robotic Control--->Slides
Class 6: Feb. 26	Robot Learning Papers Shivani Ghatge: Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collection --> Slides LianFeng Li: Learning Pouring Skills from Demonstration and Practice --> Slides Cindy Le: Data Dreaming for Object Detection: Learning Object-Centric State Representations for Visual imitation -->Slides --- Video 1... Video 2 Yuchen Mo: One-Shot Hierarchical Imitation Learning of Compound Visuomotor Tasks --> Slides
Class 7: Mar. 5	Humanoid Motion Planning Papers Abhijeet Mishra: Autonomous navigation of a humanoid robot over unknown rough terrain using a laser range sensor --> Slides Matthew Chan: Prediction of Human Whole-Body Movements with AE-ProMPs --> Slides Jiaheng Hu: Classifying Obstacles and Exploiting Knowledge about Classes for Efficient Humanoid Navigation --> Slides Steven Mazzola: Learning agile and dynamic motor skills for legged robots --> Slides
Class 8: March 12	Guest Speaker: "Learning Robotic Manipulation" by Jake Varley, Google Brain Zhengyang Du: Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks --> Slides Abhinandan Srinivasan: Tactile Sensing for Robotic Applications --> Slides
Class 9: March 26	Humanoid Perception Papers Vaibhav Darbari: Transformable Semantic Map Based Navigation using Autonomous Deep Learning Object Segmentation --> Slides Varun Chanddra: SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks --> Slides Apurva Ramdham: Interactive Data Collection for Deep Learning Object Detectors on Humanoid Robots --> Slides Hrisheekesh Patil: rxKinFu: Moving Volume Kinect Fusion for 3D Perception and Robotics --> Slides
Class 10: Apr. 2	Humanoid Grasping and Manipulation Papers Rachel Wu: One-shot learning and generation of dexterous grasps for novel objects --> Slides Abhi Gupta: Synergy Based Data Driven Generation of Object Specific grasps for anthropomorphic hands --> Slides Xipeng Xie: Autonomous Dual-Arm Manipulation of familiar objects --> Slides Khawla AlHamdan: Visual Manipulation Relationship Network for Autonomous Robots --> Slides
Class 11: Apr. 9	Human-Robot Interaction Papers Tong Wu: Dense RGB-D SLAM for Humanoid Robots in the Dynamic HumansEnvironment --> Slides Vivek Kumar: A Survey of Autonomous Human Affect Detection Methods for Social Robots Engaged in Natural HRI --> Slides Lucas Schuermann: Asking for Help Using Inverse Semantics --> Slides Irene Chen: Affordance Detection for Task-Specific Grasping Using Deep Learning --> Slides
Class 12: Apr. 16	Brain Computer Interfaces Papers Shilin Ni: User Feedback in latent space robotic skill learning --> Slides Alex Nicita: Correcting Robot Mistakes in Real Time Using EEG Signals --> Slides Megan Fillion: A Low-Cost EEG System-Based Hybrid Brain-Computer Interface for Humanoid Robot Navigation and Recognition --> Slides Bingqing Wei: Deep Learning Based BCI Control of a Robotic Service Assistant Using Intelligent Goal Formation --> Slides
Class 13: Apr. 23	PotPourri Christian Toledo: Autonomous Narration of Humanoid Robot Kitchen Task Experience --> Slides Kaylah Kennedy: Can a humanoid spot a liar? --> Slides Lingyu An: A robot with style: Can robotic attitudes influence human actions --> Slides Quinn Torres: Efficient Coverage of 3D Environments with Humanoid Robots Using Inverse Reachability Maps --> Slides James Gong: Communicating Robot Motion Intent with Augmented Reality --> Slides
Class 14: Apr. 30	Student Project Presentations

CS 6731 | Humanoid Robots Spring 2019 | Prof. Peter Allen