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 19||Introduction and A neural network primer by Thomas R. Schultz, Chapters 1-2 from Computational Developmental Psychology, MIT Press, 2003.|
|Jan 21||Lab1: Learning with neural networks
Derivation of BackProp
|2||Jan 26||Trends in evolutionary robotics, by Lisa Meeden and Deepak Kumar, Chapter 9 in Soft Computing for Intelligent Robotic Systems, 1998.|
|Jan 28||Drop/Add ends (Jan 29)||Lab2: Controlling physical robots|
|3||Feb 02||Competitive coevolution through evolutionary complexification by Kenneth Stanley and Risto Miikkulainen, Journal of Arificial Intelligence Research, vol. 21, 2004.|
|Feb 04||Lab3: Evolving robot controllers with NEAT|
|4||Feb 09||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 robotic lifeforms by Hod Lipson and Jordan Pollack, Nature, Vol. 406, 2000.
|Feb 11||Midterm Project|
|5||Feb 16||Learning and evolution by Stefano Nolfi and Dario Floreano, Autonomous Robots, vol. 7.1, 1999.|
|Feb 18||Work on Midterm Project|
|6||Feb 23||Introduction to developmental robotics by Lisa Meeden and Douglas Blank, Connection Science, vol 18.2, 2006.
Some basic principles of developmental robotics by Alexander Stoytchev, IEEE Transaction on Autonomous Mental Development, vol 1.2, 2009.
|Feb 25||Midterm Project checkpoint demonstration|
|7||Mar 02||Developmental robotics: A survey by Max Lungarella, Giorgio Metta, Rolf Pfeifer, and Giulio Sandini, Connection Science, 15:4, 2003.|
|Mar 04||Work on Midterm Project|
|8||Mar 16||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 18||Lab4: Experimenting with IAC|
|9||Mar 23||A growing neural gas learns topologies by Bernd Fritzke, in Advances in Neural Information Processing Systems 7, 1995.
Category-based intrinsic motivation by Rachel Lee, Ryan Walker, Lisa Meeden, and James Marshall, in Proceedings of the Ninth International Conference on Epigenetic Robotics, 2009.
|Mar 25||Last day to declare CR/NC or W (Mar 26)||Lab5: Unsupervised categorization|
|10||Mar 30||Self-organizing distinctive state abstraction using options by Jefferson Provost, Benjamin Kuipers, and Risto Miikkulainen, in Proceedings of the Seventh International Conference on Epigenetic Robotics, 2007.|
|Apr 01||Final Project|
|11||Apr 06||Foundations of a new science of learning by Andrew Meltzoff, Patricia Kuhl, Javier movellan, and Terrence Sejnowski, Science, July, 2009.|
|Apr 08||Work on Final Project|
|12||Apr 13||Final Project checkpoint demonstration|
|Apr 15||Work on Final Project|
|13||Apr 20||Presentations by:
1. Ryan and Andrew
|Apr 22||Presentations by:
1. Ivana and Sarah
2. Emanne and Ross
3. Ben and Henry
|14||Apr 27||Presentations by:
2. Rachael and Serra
3. Zack and Dougal
|Apr 29||Final project paper due (May 14)||Presentations by:
3. Neil and Frank