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Advanced Robot Creation

talks about how to learn robotics and courses involved

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reginaldwhoknows
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11 views12 pages

Advanced Robot Creation

talks about how to learn robotics and courses involved

Uploaded by

reginaldwhoknows
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CS 287: Advanced Robotics

Fall 2009

Lecture 1: Introduction

Pieter Abbeel
UC Berkeley EECS

www
 http://www.cs.berkeley.edu/~pabbeel/cs287-fa09

 Instructor: Pieter Abbeel


 Lectures: Tuesdays and Thursdays, 12:30pm-2:00pm,
405 Soda Hall
 Office Hours: Thursdays 2:00-3:00pm, and by email
arrangement. In 746 Sutardja Dai Hall

Page 1
Announcements
 Communication:
 Announcements: webpage
 Email: [email protected]
 Office hours: Thursday 2-3pm + by email
arrangement, 746 SDH

 Enrollment:
 Undergrads stay after lecture and see me

Class Details
 Prerequisites:
 Familiarity with mathematical proofs, probability, algorithms,
linear algebra, calculus.
 Ability to implement algorithmic ideas in code.
 Strong interest in robotics

 Work and grading


 Four large assignments (4 * 15%)
 One smaller assignment (5%)
 Open-ended final project (35%)

 Collaboration policy: Students may discuss assignments with each


other. However, each student must code up their solutions
independently and write down their answers independently.

Page 2
Class Goals
 Learn the issues and techniques underneath state of the
art robotic systems
 Build and experiment with some of the prevalent
algorithms
 Be able to understand research papers in the field
 Main conferences: ICRA, IROS, RSS, ISER, ISRR
 Main journals: IJRR, T-RO, Autonomous Robots
 Try out some ideas / extensions of your own

Lecture outline

 Logistics --- questions? [textbook slide forthcoming]

 A few sample robotic success stories

 Outline of topics to be covered

Page 3
Driverless cars
 Darpa Grand Challenge
 First long-distance driverless car competition
 2004: CMU vehicle drove 7.36 out of 150 miles
 2005: 5 teams finished, Stanford team won

 Darpa Urban Challenge (2007)


 Urban environment: other vehicles present
 6 teams finished (CMU won)

 Ernst Dickmanns / Mercedes Benz: autonomous car on European


highways
 Human in car for interventions
 Paris highway and 1758km trip Munich -> Odense, lane
changes at up to 140km/h; longest autonomous stretch: 158km

Kalman filtering, Lyapunov, LQR, mapping, (terrain & object recognition)

Autonomous Helicopter Flight


[Coates, Abbeel & Ng]

Kalman filtering, model-predictive control, LQR, system ID, trajectory learning

Page 4
Four-legged locomotion
[Kolter, Abbeel & Ng]

inverse reinforcement learning, hierarchical RL, value iteration, receding


horizon control, motion planning

Two-legged locomotion
[Tedrake +al.]

TD learning, policy search, Poincare map, stability

Page 5
Mapping [Video from W. Burgard and D. Haehnel]

“baseline” : Raw odometry data + laser range finder scans

Mapping [Video from W. Burgard and D. Haehnel]

FastSLAM: particle filter + occupancy grid mapping

Page 6
Mobile Manipulation
[Quigley, Gould, Saxena, Ng + al.]

SLAM, localization, motion planning for navigation and grasping, grasp point
selection, (visual category recognition, speech recognition and synthesis)

Outline of Topics
 Control: underactuation, controllability, Lyapunov, dynamic
programming, LQR, feedback linearization, MPC

 Estimation: Bayes filters, KF, EKF, UKF, particle filter, occupancy


grid mapping, EKF slam, GraphSLAM, SEIF, FastSLAM

 Manipulation and grasping: force closure, grasp point selection,


visual servo-ing, more sub-topics tbd

 Reinforcement learning: value iteration, policy iteration, linear


programming, Q learning, TD, value function approximation, Sarsa,
LSTD, LSPI, policy gradient, inverse reinforcement learning, reward
shaping, hierarchical reinforcement learning, inference based
methods, exploration vs. exploitation

 Brief coverage of: system identification, simulation, pomdps, k-


armed bandits, separation principle

 Case studies: autonomous helicopter, Darpa Grand/Urban


Challenge, walking, mobile manipulation.

Page 7
1. Control
 Overarching theme: mathematically capture
 What makes control problems hard
 What techniques do we have available to tackle the
hard problems
 E.g.: “Helicopters have underactuated, non-minimum
phase, highly non-linear and stochastic (within our
modeling capabilities) dynamics.”
 Hard or easy to control?

1. Control (ctd)
 Under-actuated vs. fully actuated
 Example: acrobot swing-up and balance task

Page 8
1. Control (ctd)
 Other mathematical formalizations of what makes some
control problems easy/hard:
 Linear vs. non-linear
 Minimum-phase vs. non-minimum phase
 Deterministic vs. stochastic

 Solution and proof techniques we will study:


 Lyapunov, dynamic programming, LQR, feedback
linearization, MPC

2. Estimation
 Bayes filters: KF, EKF, UKF, particle filter
 One of the key estimation problems in robotics:
Simultaneous Localization And Mapping (SLAM)
 Essence: compute posterior over robot pose(s) and
environment map given
 (i) Sensor model
 (ii) Robot motion model
 Challenge: Computationally impractical to compute
exact posterior because this is a very high-dimensional
distribution to represent
 [You will benefit from 281A for this part of the course.]

Page 9
3. Grasping and Manipulation
 Extensive mathematical theory on grasping: force
closure, types of contact, robustness of grasp
 Empirical studies showcasing the relatively small
vocabulary of grasps being used by humans (compared
to the number of degrees of freedom in the human
hand)
 Perception: grasp point detection

4. Reinforcement learning
 Learning to act, often in discrete state spaces

 value iteration, policy iteration, linear programming, Q


learning, TD, value function approximation, Sarsa,
LSTD, LSPI, policy gradient, inverse reinforcement
learning, reward shaping, hierarchical reinforcement
learning, inference based methods, exploration vs.
exploitation

Page 10
5. Misc. Topics
 system identification: frequency domain vs. time domain
 Simulation / FEM
 Pomdps
 k-armed bandits
 separation principle
 …

Reading materials
 Control
 Tedrake lecture notes 6.832:
https://svn.csail.mit.edu/russt_public/6.832/underactuated.pdf

 Estimation
 Probabilistic Robotics, Thrun, Burgard and Fox.

 Manipulation and grasping


 -

 Reinforcement learning
 Sutton and Barto, Reinforcement Learning (free online)

 Misc. topics
 -

Page 11
 Next lecture we will start with our study of control!

Page 12

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