Syllabus

Please find below all papers that we will discuss and review during class. Further below, please find supplementary background material.

Note: You may need to be connected to the Stanford network to access the readings. For information on how to access readings while off campus, click here.

Date Topic Reading Presenter (Tutorial/Debate) Due
Sep 24 Introduction and Course Logistics
Sep 26 Classic contact-based grasping Automatic grasp planning using shape primitives. AT Miller, S Knoop, HI Christensen, PK Allen. IEEE International Conference on Robotics and Automation. 2003. Negin Heravi
Oct 1 Grasp Synergies Hand posture subspaces for dexterous robotic grasping. MT Ciocarlie, PK Allen. The International Journal of Robotics Research 28 (7), 851-867
Oct 3 Exploiting Contact Constraints Exploitation of environmental constraints in human and robotic grasping. Clemens Eppner, Raphael Deimel, José Álvarez-Ruiz, Marianne Maertens, Oliver Brock, In International Journal of Robotics Research (IJRR)
Oct 8 Learning to Grasp Robotic Grasping of Novel Objects using Vision Ashutosh Saxena, Justin Driemeyer, Andrew Y. Ng. In International Journal of Robotics Research (IJRR) , 2008.
Robotic Grasping of Novel Objects (Conference Version)
Oct 10 Datasets for Learning Approaches Dex-Net 1.0: A Cloud-Based Network of 3D Objects for Robust Grasp Planning Using a Multi-Armed Bandit Model with Correlated Rewards. Jeffrey Mahler, Florian Pokorny, Brian Hou, Melrose Roderick, Michael Laskey, Mathieu Aubry, Kai Kohlhoff, Torsten Kroeger, James Kuffner, Ken Goldberg. IEEE International Conference on Robotics and Automation , 2016

Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection. Sergey Levine, Peter Pastor, Alex Krizhevsky, Deirdre Quillen. ISER. 2016)
Oct 15 Reinforcement Learning for Manipulation A Brief Survey of Deep Reinforcement Learning Kai Arulkumaran, Marc Peter Deisenroth, Miles Brundage, Anil Anthony Bharath. In IEEE Signal Processing Magazine, vol. 34, no. 6, pp. 26-38, Nov. 2017.
Oct 17 Trajectory Optimization Motion Planning with Sequential Convex Optimization and Convex Collision Checking John Schulman, Yan Duan, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow,Jia Pan, Sachin Patil, Ken Goldberg, Pieter Abbeel. The International Journal of Robotics Research, 33(9), 1251–1270. Draft Proposal
Oct 22 Task and Motion Planning Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning. M. Toussaint, K. R. Allen, K. A. Smith, and J. B. Tenenbaum. In Proc. of Robotics: Science and Systems (R:SS 2018), 2018.
Oct 24 Sensorimotor adaptation Online movement adaptation based on previous sensor experiences. P Pastor, L Righetti, M Kalakrishnan, S Schaal IEEE/RSJ International Conference on Intelligent Robots and Systems , 365-371
Oct 29 End-to-end learning End-to-End Training of Deep Visuomotor Policies. Sergey Levine, Chelsea Finn, Trevor Darrell, Pieter Abbeel. JMLR 17, 2016.
Oct 31 Tactile Sensing Active Clothing Material Perception using Tactile Sensing and Deep Learning Wenzhen Yuan, Yuchen Mo, Shaoxiong Wang, and Edward H. Adelson. IEEE International Conference on Robotics and Automation. 2018
Nov 5 Visual Servoing Training Deep Neural Networks for Visual Servoing Quentin Bateux, Eric Marchand, Jürgen Leitner, François Chaumette, Peter Corke. IEEE International Conference on Robotics and Automation , 2018
Nov 7 Visual Tracking DART: Dense Articulated Real-Time Tracking. T. Schmidt, R. A. Newcombe, D. Fox. Robotics: Science and Systems (RSS) 2014
Nov 12 Learning Object Representations Dense object nets: Learning dense visual object descriptors by and for robotic manipulation. Peter R. Florence, Lucas Manuelli, and Russ Tedrake. In Conference on Robot Learning (CoRL), October 2018.
Nov 14 Robotic System Building TossingBot: Learning to Throw Arbitrary Objects with Residual Physics Zeng, Andy and Song, Shuran and Lee, Johnny and Rodriguez, Alberto and Funkhouser, Thomas. In Proc. of Robotics: Science and Systems (R:SS 2019), 2019.
Nov 19 Project Presentations
Nov 21 Project Presentations
Nov 26 Thanksgiving Recess (no classes)
Nov 28 Thanksgiving Recess (no classes)
Dec 3 Project Presentations
Dec 5 Project Presentations Full Proposal
Dec 10 Peer Review

Supplementary Material

Textbooks Robotics

Contact-based grasp synthesis

Data-Driven Grasp Synthesis

Reinforcement Learning

Trajectory Optimization

Dynamical Movement Primitives

Visual Servoing

Interactive Perception