Schedule
Date | Discussion Paper or Project Activity | Presenter |
---|---|---|
Thu, 25 Jan | Introduction and Overview; discuss project topics | |
Topic 1 | Systems | |
Tue, 30 Jan | “Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems.” Eppner, Höfer, Jonschkowski, Martín-Martín, Sieverling, Wall, and Brock. RSS 2016. | Sawyer Elliott |
“Analysis and Observations from the First Amazon Picking Challenge.” Correll, Bekris, Berenson, Brock, Causo, Hauser, Okada, Rodriguez, Romano and Wurman, T-ASE 2016. | optional extra reading | |
Thu, 1 Feb | No class — professor traveling | |
Tue, 6 Feb | “Robotic Roommates Making Pancakes.” Beetz, Klank, Kresse, Maldonado, Mösenlechner, Pangercic, Rühr, and Tenorth. Humanoids 2011. | Yixiao Wang |
Topic 2 | Learning | |
Thu, 8 Feb | “Learning Contact-Rich Manipulation Skills with Guided Policy Search.” Levine, Wagener, and Abbeel. ICRA 2015. | Jose Nino |
Mon, 12 Feb | Project proposals due | |
Tue, 13 Feb | “Neural Task Programming: Learning to Generalize Across Hierarchical Tasks.” Xu, Nair, Zhu, Gao, Garg, Fei-Fei, and Savarese. 2017. | Claire Liang |
Thu, 15 Feb | “Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation.” Nair, Chen, Agrawal, Isola, Abbeel, Malik, and Levine. 2017. | Haoyuan Zheng |
Tue, 20 Feb | No class — mid-winter break | |
Topic 3 | Manipulation Strategies | |
Thu, 22 Feb | “A Framework for Push-grasping in Clutter.” Dogar and Srinivasa. RSS 2011. | |
Tue, 27 Feb | “Extrinsic Dexterity: In-Hand Manipulation with External Forces.” Chavan-Dafle, Rodriguez, Paolini, Tang, Srinivasa, Erdmann, Mason, Lundberg, Staab, and Fuhlbrigge. ICRA 2014. | |
Thu, 1 Mar | “Manipulation Planning with Caging Grasps.” Diankov, Srinivasa, Ferguson, and Kuffner. Humanoids 2008. | |
Tue, 6 Mar | No class — HRI conference | |
Thu, 8 Mar | No class — HRI conference | |
Tue, 13 Mar | No class — professor away | |
Thu, 15 Mar | Project Milestone 1 presentations | |
Topic 4 | Motion Planning | |
Tue, 20 Mar | “Task Space Regions: A Framework for Pose-Constrained Manipulation Planning.” Berenson, Srinivasa, and Kuffner. IJRR 2011. | |
Thu, 22 Mar | “Manipulation Planning Among Movable Obstacles.” Stilman, Schamburek, Kuffner, and Asfour. ICRA 2007. | |
Topic 5 | Symbolic Planning | |
Tue, 27 Mar | “Coming Up with Good Excuses: What To Do When No Plan Can be Found.” Göbelbecker, Keller, Eyerich, Brenner, and Nebel. ICAPS 2010. | Jose Nino |
Thu, 29 Mar | “Incremental Task and Motion Planning: A Constraint-Based Approach.” Dantam, Kingston, Chaudhuri, and Kavraki. RSS 2016. | Wil Thomason |
Tue, 3 Apr | No class — Spring Break | |
Thu, 5 Apr | No class — Spring Break | |
Topic 7 | Natural Language | |
Tue, 10 Apr | “Understanding Natural Language Commands for Robotic Navigation and Mobile Manipulation.” Tellex, Kollar, Dickerson, Walter, Banerjee, Teller, and Roy. AAAI 2011. | |
Topic 6 | Programming and Interfaces | |
Thu, 12 Apr | “RoboFlow: A Flow-based Visual Programming Language for Mobile Manipulation Tasks.” Alexandrova, Tatlock, and Cakmak. ICRA 2015. | Alex Renda |
Tue, 17 Apr | Project Milestone 2 presentations | |
Topic 7 | Natural Language | |
Thu, 19 Apr | “Tell Me Dave: Context-Sensitive Grounding of Natural Language to Manipulation Instructions.” Misra, Sung, Lee, and Saxena. RSS 2014. | |
Topic 8 | Human-Robot Interaction | |
Tue, 24 Apr | “An Implemented Theory of Mind to Improve Human-Robot Shared Plans Execution.” Devin and Alami. HRI 2016. | Zhidi Yang |
Thu, 26 Apr | “Learning to Manipulate Articulated Objects in Unstructured Environments Using a Grounded Relational Representation.” Katz, Pyuro, and Brock. RSS 2009. | |
Tue, 1 May | Evolved Machines Shed Light on Robustness and Resilience Bongard and Lipson, Proceedings of the IEEE 2014 | Frankie Zhu |
Thu, 3 May | Final Project Demos and Presentations | |
Tue, 8 May | Final Project Demos and Presentations | |
Tue, 15 May | Final Project Paper Due |
Other Interesting Papers
- - “High-Accuracy 3D Sensing for Mobile Manipulation: Improving Object Detection and Door Opening.” Quigley, Batra, Gould, Klingbeil, Le, Wellman, and Ng. ICRA 2009.