The lecture will be taught in an online-format for the remainder of the semester.
Lectures will be held in a zoom meeting during the usual lecture times Tue/Thu 15:30 - 17:00 CST.
The lectures will be recorded and made available to you.
Class recordings are reserved only for the use of members of this class (students, TAs, and the instructor) and only for educational purposes. Recordings should not be shared outside the class in any form. Violation of this restriction could lead to Student Misconduct proceedings.
More changes and adaptation regarding data collection and simulation environments will be discussed and announced in the first meeting (Tue. 03/31/2020).
Currently, most robots are programmed meticulously by robotics experts in a controlled laboratory setting—a model that is obviously not scalable to large-scale deployment.
Robot learning from demonstration has emerged as an alternative paradigm for teaching robots new tasks by simply showing them what to do, rather than by writing code.
Thus, learning from demonstration research tries to answer the question: “How can robots learn to interpret and generalize human demonstrations?”
Solving this core research problem will enable the next generation of personal robots to revolutionize the home and workplace in coming years.
This research stream will place students at the cutting-edge of robot learning from demonstration research, working with robots to perform complex manipulation tasks, such as autonomously building IKEA furniture. Students will be given instruction in three core areas of robotics: manipulation, perception, and human-robot interaction. Additionally, students will learn and practice programming skills via hands-on mini-projects in each of these areas. After these key competencies have been acquired, students will devise and implement research projects in the area of learning from demonstration.
There are six types of assignments that the students are expected to complete.
The overall grade will consist of five of the coursework assignments. Grades will be assigned using both plus and minus grades.
The schedule is subject to change due to pace of class, see website for updates.
Day | Topic | Readings | Assignments |
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Tue 01/21 | Motivation, Organization | Homework 0: Python, Conda, Jupyter |
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Thu 01/23 | Linear Algebra Refresher | ||
Tue 01/28 | Regression: OLS, Ridge Regression | ||
Thu 01/30 | Regression: Lasso, Elastic Nets | ||
Tue 02/04 | Regression: Features, Polynomial Regression | ||
Tue 02/06 | Robotics: basics, position, orientation | ||
Tue 02/011 | Robotics: homogeneous transformation, ROS basics | ||
Thu 02/13 | Tutorial: Introduction to the Sawyers and the initial task | Homework 1: Regression, ROS |
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Tue 02/18 | Robotics: Inverse Kinematics, Singularities, Dynamics | ||
Thu 02/20 | Teaching Types: Kinesthetic, Tele-Operation, Observation Designing (Collaborative) Tasks: goals, requirements, challenges |
1. Introduction 2. Design choices |
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Tue 02/25 | Trajectory Representation | ||
Thu 02/27 | Classification: FLD, Perceptron | ||
Tue 03/03 | Classification: SVM | Homework 2: Classification Clustering Model Evaluation |
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Thu 03/05 | Tutorial: Students present solutions for the first task | 3. Gathering examples: How the dataset is built |
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Thu 03/10 | Clustering: KDE, KNN | ||
Tue 03/12 | Clustering: Mean-Shift, K-means | ||
Tue 03/24 | Evaluation: Model Selection, Cross Validation | ||
Thu 03/26 | Reinforcement Learning: MDP, Features | ||
Tue 03/31 | Introduction: Pytorch | Homework 3: Reinforcement Learning, Imitation Learning |
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Thu 04/02 | Tutorial: Students introduce final task | ||
Tue 04/07 | Reinforcement Learning: Bellman Optimality, Exploration vs Exploitation | ||
Thu 04/09 | Imitation Learning: Behavioral Cloning | 4. Deriving a policy: The source of the state to action mapping |
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Tue 04/14 | Imitation Learning: Inverse Reinforcement Learning | ||
Thu 04/16 | Imitation Learning: Inverse Reinforcement Learning | ||
Tue 04/21 | Intermediate Presentation | ||
Thu 04/23 | Project Meetings | Final Project | |
Tue 04/28 | Project Meetings | ||
Thu 04/30 | Project Meetings | ||
Tue 05/05 | Project Meetings | ||
Thu 05/07 | Project Meetings | 5. Limitations of the demonstration dataset 6. Future directions 7. Conclusion |
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Tue 05/14 (subject to change) |
Final Project Presentations |
Several office hours are offered by various mentors. The office hours are held in the basement pc lab/pool in GDC (1.302 / 1.308 / 1.310). Always arrive at the beginning of the office. The mentors are instructed to end the office hours if there are no students in the first 20 minutes. If you run late to an office hour reach out to the respective mentor via e-mail.
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18:00 |
You are encouraged to discuss the readings and concepts with classmates, but all written work must be your own. Programming assignments must be your own, except for 2-person teams when teams are authorized.
You may NOT look online for existing implementations of algorithms related to the programming assignments, even as a reference.
Your code will be analyzed by automatic tools that detect plagiarism to ensure that it is original.
Students caught cheating will automatically fail the course and will be reported to the university.
If in doubt about the ethics of any particular action, look at the departmental guidelines and/or ask — ignorance of the rules will not shield you from potential consequences.
The University of Texas at Austin provides upon request appropriate academic accommodations for qualified students with disabilities. For more information, contact the Division of Diversity and Community Engagement — Services for Students with Disabilities at 512-471-6529; 512-471-4641 TTY.
A student who misses an examination, work assignment, or other project due to the observance of a religious holy day will be given an opportunity to complete the work missed within a reasonable time after the absence, provided that he or she has properly notified the instructor. It is the policy of the University of Texas at Austin that the student must notify the instructor at least fourteen days prior to the classes scheduled on dates he or she will be absent to observe a religious holy day. For religious holy days that fall within the first two weeks of the semester, the notice should be given on the first day of the semester. The student will not be penalized for these excused absences, but the instructor may appropriately respond if the student fails to complete satisfactorily the missed assignment or examination within a reasonable time after the excused absence.