机器人学习--Carnegie Mellon University 认知机器人学课程

官网链接：http://www.cs.cmu.edu/afs/cs/academic/class/15494-s19/schedule.html

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Cognitive Robotics Schedule

Spring 2019

Date Lecture Office Hours Project/Assignment Hand-in Week 1 Mon 1/14 Course overview and introduction to Cozmo.   Reading: Ten Big Ideas in Robotics   Wed 1/16 Robot software architecture and Python control structure.   Read the slides from Beazley's 2009 coroutines lecture. Somehwat dated but still really good.   Fri 1/18 Lab 1: Meet Cozmo!       Week 2 Mon 1/21 Dr. Martin Luther King Holiday. No classes today.       Wed 1/23 Finite state machines.       Fri 1/25 Lab 2: Odometry   Finish Lab 2 for homework.   Week 3 Mon 1/28 More state machines. Intro to particle filters.   Try out particle_filter_demo and pfdemo.py.   Wed 1/30 Particle filters. No class today; watch the video instead.   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.   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.   Read: Introduction to homogenous transformations and robot kinematics, by Jennifer Kay. Watch: Denavit-Hartenberg Conventions   Wed 2/6 The world map.   Visualizing quaternions video series. Play with quaternions.online (click to begin).   Fri 2/8 Lab 4: Kinematics.   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.       Wed 2/13 Path planning algorithms. RRT Animation Gallery. Videos: A* Search, Tekkotsu hand/eye planner Intro to OpenCV. Demo: CircleWatcher.py   Browse OpenCV Python Tutorials, specifically on contours.   Fri 2/15 Lab 5: Cozmo's path planner, and intro to SLAM.   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   Matplotlib usage. Matplotlib tutorial info.   Wed 2/20 Speech generation and recognition. Demo: Speech1.fsm. Winograd's SHRDLU system, and a modern version.   Read about SHRDLU. Review regular expressions in Python.   Fri 2/22 Lab 6: RRTs, and color class learning.   Finish Lab 6 for homework.   Week 7 Mon 2/25 Backpropagation learning. Demos: linfit.py, approxfn .py, approxfn2 .py, approxfn3 .py, mnist1 .py       Wed 2/27 Convolutional networks. Demos: mnist1.py, mnist2.py, mnist3.py   Read the demo source code.   Fri 3/1 Lab 7: PyTorch and Neural Networks.       Week 8 Mon 3/4 Code Lab.   Try out Scratch 3.0.   Wed 3/6 Calypso for Cozmo.   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.   Fri 3/8 Mid-semester break. No class/lab.       Week 9 Mon 3/11 Spring break: no class.       Wed 3/13 Spring break: no class.       Fri 3/15 Spring break: no class.       Week 10 Mon 3/18 Machine learning in Python: scikit-learn. Demo: emdemo.py Demo: RGBClusterer.fsm, RGBClusterer.py       Wed 3/20 Manipulation, with videos.       Fri 3/22 Lab 8: using the GPU with Cozmo.       Week 11 Mon 3/25 Lab 9: auto-encoder networks.       Wed 3/27 Lab 10: cube auto-encoder.       Fri 3/29 Continuation of Lab 8.     Lab 8 due. Week 12 Mon 4/1 Continuation of labs 8 and 10.   Lab closed from 6pm Mon. until 1pm Wed.   Wed 4/3 Lab       Fri 4/5 Lab 12: Cozmo's Magic Dream House   Finish Lab 10.   Week 13 Mon 4/8 Discussion of Final Project Ideas.       Wed 4/10 Work on final projects.       Fri 4/12 No lab: Spring Carnival.       Week 14 Mon 4/15 Work on final projects.     Lab 13 due Wed 4/17 Work on final projects.       Fri 4/19 Work on final projects.       Week 15 Mon 4/22 Work on final projects.       Wed 4/24 Work on final projects.       Fri 4/26 Work on final projects.       Week 16 Mon 4/29 Work on final projects.       Wed 5/1 Work on final projects.       Fri 5/3 Public demo of your projects.     Final project hand-in