Course Syllabus

The following syllabus is a tentative plan and is subject to change.

Date Topic Slides
September 1

  • 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