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General Robotics Lab
Course Syllabus
The following syllabus is a tentative plan and is subject to change.
Date
Topic
Slides
September 1
Overview
Presentation Signup Link
Paper Presentation Upload
Project Presentation Upload
September 8
3D Perception I
Mask R-CNN
PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space
September 15
Project Proposal Presentation
Introduction to Robot Simulations
Introduction to Deep Learning Frameworks
Project Proposal Slides Due on
September 13
September 22
3D Perception II
DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation
NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis
September 29
Visual Modeling for Robot Control
Deep Visual Foresight for Planning Robot Motion
Fully Body Visual Self-Modeling of Robot Morphologies
October 6
Multimodal Perception
More Than a Feeling: Learning to Grasp and Regrasp Using Vision and Touch
The Boombox: Visual Reconstruction from Acoustic Vibrations
October 13
Mid-term Project Presentation
Mid-term Project Slides Submission Due on
Otcober 11
October 20
Self-Supervised Learning I
Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hours
QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation
October 27
Self-Supervised Learning II
Time-Contrastive Networks: Self-Supervised Learning from Video
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation
November 3
Reinforcement Learning I
Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning
Learning Dexterous In-Hand Manipulation
November 10
Reinforcement Learning II
Learning Latent Plans from Play
Generative Adversarial Imitation Learning
November 17
Large Vision-Language Model for Robotics
Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
November 24
Thanksgiving, No class
December 1
Final Project Presentation
Final Project Presentation Slides Due on
November 29
Final Project Report and Code Due on
December 13