This seminar will explore the topic of adaptive robotics with a special focus on developmental robotics, a newly emerging paradigm of research. The goal of developmental robotics is to create intelligent robots by allowing them to go through a developmental process, rather than being directly programmed to solve a particular task. By endowing a robot with an appropriate initial control architecture and adaptive mechanisms, it can learn through continual interactions with the world, developing self-organized knowledge about itself and its environment. We will be studying the following sorts of questions: What should be innate in the robot? What adaptive mechanisms are needed? What motivates the robot to act?
|1||Jan 20||Introduction and A Neural Network Primer by Thomas R. Schultz, Chapters 1-2 from Computational Developmental Psychology, MIT Press, 2003.|
|Jan 22||Lab1: Robots learning with neural networks|
|2||Jan 27||Trends in Evolutionary Robotics, by Lisa Meeden and Deepak Kumar, Chapter 9 in Soft Computing for Intelligent Robotic Systems, eds. Lakhmi Jain and Toshio Fukuda, Physica-Verlag, 1998.|
|Jan 29||Drop/Add ends (Jan 30)||Lab2: Controlling Aibo, Khepera, and Pioneer robots|
|3||Feb 03||Competitive coevolution through evolutionary complexification by Kenneth Stanley and Risto Miikkulainen, Journal of Arificial Intelligence Research, vol. 21, 2004.|
|Feb 05||Lab3: Evolving robot controllers with NEAT|
|4||Feb 10||Evolving 3D Morphology and Behavior by Competition by Karl Sims, in Artificial Live IV Proceedings, eds. Rodney Brooks and Patti Maes, MIT Press, 1994.
Automatic design and manufacture of robotics lifeforms by Hod Lipson and Jordan Pollack, Nature, Vol. 406, 2000.
|Feb 12||Midterm Project|
|5||Feb 17||Learning and Evolution by Stefano Nolfi and Dario Floreano, Autonomous Robots, vol. 7.1, 1999.|
|Feb 19||Lab: Continue Midterm Project|
|6||Feb 24||Introduction to developmental robotics by Lisa Meeden and Douglas Blank, Connection Science, vol 18.2, 2006.
Also read sections 1-3 of next week's paper.
|Feb 26||Midterm Project checkpoint demonstration|
|7||Mar 03||Developmental Robotics: A survey by Max Lungarella, Giorgio Metta, Rolf Pfeifer, and Giulio Sandini, Connection Science, vol. 15.4, 2003.|
|Mar 05||No class|
|8||Mar 17||Intrinsic motivation systems for autonomous mental development by Peirre-Yves Oudeyer, Frederic Kaplan, Verena Hafner, IEEE Transactions on Evolutionary Computation, vol. 11.2, 2007.|
|Mar 19||Lab4: Experimenting with IAC|
|9||Mar 24||Sensory flow segmentation using a RAVQ by Fredrik Linaker and Lars Niklasson, in Advances in Pattern Recognition, 2000.|
|Mar 26||Last day to declare CR/NC
or withdraw (Mar 27)
|Lab5: Unsupervised categorization|
|10||Mar 31||Final Project|
|Apr 02||Developing navagation behavior through self-organizing distinctive state abstraction by Jefferon Provost, Benjamin Kuipers, and Risto Mikkulainen, Connection Science, vol. 18.2, 2006.
A growing neural gas learns topologies by Bernd Fritzke, in Advances in Neural Information Processing Systems 7, 1995.
|11||Apr 07||An emergent framework for self-motivation in developmental robotics by James Marshall, Douglas Blank, and Lisa Meeden, in the proceedings of The Third International Conference on Development and Learning, 2004.|
|Apr 09||Final Project checkpoint demonstration|
|12||Apr 14||Vist by Swat alum John Rieffel|
|Apr 16||Lab: Work on Final Project|
|13||Apr 21||Presentations by:
|Apr 23||Presentations by:
1. Alex, Andrew, and Raul
|14||Apr 28||Presentations by:
1. Derek, Erick, and Malcom
2. Amber and Anne Marie
|Apr 30||Paper due at 4pm, Seminar Party at 5pm (May 12)||Presentations by:
1. Ashley, Maria, and Rachel