Lagunita Theme

Lecture Zoom

Zoom link and password can be found on canvas.

Useful Resources

  • Piazza: link
  • iGibson: website
  • Google Cloud tutorial: repo
  • Jupyter notebook tutorial (Wed 04/07 lecture): link

Course Description


This course provides a research survey of advanced methods for robot learning in simulation, analyzing the simulation techniques and recent research results enabled by advances in physics and virtual sensing simulation. The course covers two main components: agent-environment interactions and domains for multi-agent and human-robot interaction. First, we cover agent-environment interactions by studying novel simulation environments for robotics, imitation and reinforcement learning methods, simulation for navigation and manipulation and ‘sim2real’ techniques. In the second part, we explore models and algorithms for simulation and robot learning in multi-agent domains and human-robot interaction, studying the principles of learning for interactive tasks in which each agent collaborates to accomplish tasks. The topics include domains of social navigation, human-robot collaborative manipulation and multi-agent settings.
This a project-based seminar class. Projects will leverage the state-of-the-art simulation environment iGibson, in which students will develop simulations to explore learning and planning methods for diverse domains. We will provide a list of suggested projects but students might also propose an original idea. The course will cover a set of research papers with presentations by students. This is a research field in rapid transformation with exciting research lines. The goal of the class is to provide practical experience and understanding of the main research lines to enable students to conduct innovative research in this field.

Syllabus

Date Presenter Theme Resources
Introduction
Mon 3/29 No Class
Wed 3/31 Savarese/Martín-Martín/D’Arpino Introduction Slides: Part [1] [2] [3]
Mon 04/05 Li iGibson Introduction and Tutorial Slides
Wed 04/07 Xia iGibson Tutorial and Demos Slides Tutorial
Part I: Agent-Environment Interaction
Mon 04/12 Martín-Martín Simulation Environments for Robot Interaction
Reading:
Wed 04/14 Students Reinforcement learning and Imitation learning in Simulation
Reading:
Mon 04/19 Students Simulation for Manipulation and Mobile Manipulation
Reading:
Wed 04/21 Students Sim2Real techniques
Reading:
Mon 04/26 ‪Erwin Coumans (Google) Guest Lecture TBA
Wed 04/28 Xiangyun Meng (University of Washington) Guest Lecture TBA
Part II: Multi-Agent and Human-Robot Interactions
Mon 05/03 D’Arpino Robot Learning in Simulation for HRI & Social Navigation Slides
Reading:
Wed 05/05 Students Agent Simulation and Interactive Tasks
Reading:
Mon 05/10 Roozbeh Mottaghi (AI2, University of Washington) Guest Lecture TBA
Wed 05/12 Marynel Vázquez (Yale) Guest Lecture TBA
Mon 05/17 Chuang Gan (MIT-IBM Watson AI Lab) Guest Lecture TBA
Wed 05/19 Students Robot Learning for Collaborative Manipulation
Reading:
Mon 05/24 Nick Haber (Stanford) Guest Lecture TBA
Course Project Presentation
Wed 05/26 Students Final Project Presentations I
Mon 05/31 No Class (Memorial Day)
Wed 06/02 Students Final Project Presentations II

Evaluation:

  • 30% Paper Presentation
  • 40% Project
  • 30% Class Participation