Lecture Logistics#
Lectures will be held in person, in NSH 3002. Please adhere to CMU policies and wear a mask.
Course Schedule#
| Event | Date | Lecture | Readings | Logistics |
|---|---|---|---|---|
| Lecture 1 | 08/30/2021 | Introduction [slides] | ||
| Lecture 2 | 09/01/2021 | Reinforcement Learning [slides ] | DQN, DPG, DDPG, Reinforcement Learning, NPG, TRPO | |
| Holiday | 09/06/2021 | No class | Labor Day | |
| Lecture 3 | 09/08/2021 | Paper Presentations [slides] | AlphaStar (Nature, 2019) (Lead: Alex, Advocate: Konwoo, Critic: Aravind) Data Efficient HRL (NeurIPS, 2018) (Lead: Russell, Advocate: Murtaza, Critic: Sudeep) | |
| Lecture 4 | 09/13/2021 | Control, Planning and Learning [slides] | ||
| Lecture 5 | 09/15/2021 | Paper Presentations [slides ] | CHOMP (ICRA, 2009) (Lead: Suvansh, Advocate: Aravind, Critic: Alex) PILCO (ICML, 2011)(Lead: Kenneth, Advocate: Jiaqi, Critic: Russell) | |
| Lecture 6 | 09/20/2021 | Learning and Control [slides] | ||
| Lecture 7 | 09/22/2021 | Paper Presentations [slides] | MPNet (ICRA, 2019) (Lead: Aravind, Advocate: Alex, Critic: Swapnil) GPS (JMLR, 2015) (Lead: Murtaza, Advocate: Konwoo, Critic: David) | |
| Lecture 8 | 09/27/2021 | Active Vision, Object-based perception, 3D learning and Robotics [slides] | ||
| Lecture 9 | 09/29/2021 | Paper Presentations [slides] | kPAM (ISRR, 2019) (Lead: Jiaqi, Advocate: Chittesh, Critic: Kenneth) VPG (IROS, 2018) (Lead: Yehonathan, Advocate: Suvansh, Critic: Murtaza) | |
| Lecture 10 | 10/04/2021 | Cognitive Science and Motor Development [slides] | ||
| Lecture 11 | 10/06/2021 | Paper Presentations [slides] | How to Grow a Mind (Lead: Zipeng Advocate: Kenneth, Critic: Chittesh) Signal-dependent noisedetermines motor planning (Lead: Aravind, Advocate: Sudeep, Critic: Alex) | |
| Lecture 12 | 10/11/2021 | Self-Supervised Visual Learning [slides] | Project Proposal Due | |
| Lecture 13 | 10/13/2021 | Paper Presentations [slides] | DALL-E (Lead: Chittesh, Advocate: Murtaza, Critic: Russell) SimSiam (CVPR 2021) (Lead: Swapnil, Advocate: David, Critic: Zipeng) | |
| Lecture 14 | 10/18/2021 | Unsupervised Exploration Part 1 [slides] | ||
| Lecture 15 | 10/20/2021 | Paper Presentations [slides] | Is Curiosity All You Need? (Lead: Konwoo, Advocate: Sudeep, Critic: Yehonathan) Dynamics-Aware Unsupervised Discovery of Skills (Lead: Zipeng, Advocate: Swapnil, Critic: Kenneth) | |
| Lecture 16 | 10/25/2021 | Unsupervised Exploration Part 2 [slides] | ||
| Lecture 17 | 10/27/2021 | Paper Presentations [slides] | First Return, Then Explore (Lead: Suvansh, Advocate: Yehonathan, Critic: Murtaza) Reward is Enough (Lead: Konwoo, Advocate: Alex, Critic: Zipexng) | |
| Lecture 18 | 10/29/2021 | Online and Offline Learning [slides] | ||
| Lecture 20 | 11/01/2021 | Challenges in Embodied Learning [slides] | ||
| Lecture 21 | 11/10/2021 | Paper Presentations [slides] | DexNet 2.0 (Lead: Russell, Advocate: Yehonathan, Critic: Suvansh) Learning a State Representation and Navigation in Cluttered and Dynamic Environments (Lead: Swapnil, Advocate: Russell, Critic: Konwoo) | Project Midterm Report Due |
| Lecture 22 | 11/15/2021 | Guest Lecture: Vikash Kumar (remote) | ||
| Lecture 23 | 11/17/2021 | 1-on-1 with Deepak | ||
| Lecture 24 | 11/22/2021 | Guest Lecture: Shuran Song (remote) | ||
| Holiday | 11/24/2021 | No Class | Thanksgiving Break | |
| No Class | 11/29/2021 | No Class | ||
| Lecture 25 | 12/01/2021 | Project Presentations | Project Final Report Due |