ROB 498 /599: Computational Human-Robot Interaction Fall 2023 |
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Note: the schedule is subject to change. Please check back here and on Piazza for updates.
| # | Date | Topic | Reading | Deadlines |
| 1 | Tue Aug 29 | Introduction | Minerva | Computational HRI | |
| 2 | Thu Aug 31 | Bayesian inference | Prob. Rob. Ch 2 | Bayes slides | Knowledge survey |
| 3 | Tue Sep 5 | Filtering | Prob. Rob. Ch 3, 4 | Particle filters | Kalman filters | Team formation |
| 4 | Thu Sep 7 | Motion planning | Heuristic search | Sampling-based | CHOMP | |
| 5 | Tue Sep 12 | Model Predictive Control | MPPI | Navigation | Handovers | |
| 6 | Thu Sep 14 | Planning under uncertainty | MDPs | POMDPs | Intention-aware MP | |
| 7 | Tue Sep 19 | Learning from demonstration | Invitation to imitation | Prediction | Navigation | |
| 8 | Thu Sep 21 | Project-based discussion | Social force | Groups | Shared autonomy | Handovers | |
| 9 | Tue Sep 26 | Experiment design | A primer for conducting experiments in HRI | |
| 10 | Thu Sep 28 | Benchmarking | Fluency | Godspeed | NASA TLX | RoSAS | Proposal due 10/1 |
| 11 | Tue Oct 3 | Mapping (Manohar Bhat) | Prob. Rob. Ch 9 | EKF SLAM | FastSLAM | |
| 12 | Thu Oct 5 | SLAM (Manohar Bhat) | Factor graphs / GTSAM tutorial | |
| 13 | Tue Oct 10 | Social navigation | Social force | Core challenges | |
| 14 | Thu Oct 12 | Reciprocal n-body collision avoidance Main: Gurnoor, Tisha, Jacob; Con: Yifan, Robin, Nithish Trajectories and Keyframes for Kinesthetic Teaching: A Human-Robot Interaction Perspective Main: Sagar, Kajal; Con: Ruihan |
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| Tue Oct 17 | No class - Fall study break | |||
| 15 | Thu Oct 19 | The Walking Behaviour of Pedestrian Social Groups and Its Impact on Crowd Dynamics Main: Yifan, Robin, Nithish; Con: Gurnoor, Tisha, Jacob Toward Seamless Human–Robot Handovers Main: Ruihan; Con: Sagar, Kajal |
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| 16 | Tue Oct 24 | Core challenges of social robot navigation: A survey Main: Gurnoor, Tisha, Jacob; Con: Sagar, Kajal Human Motion Prediction Under Social Grouping Constraints Main: Yifan, Robin, Nithish; Con: Ruihan |
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| 17 | Thu Oct 26 | Guest: Jesse Thomason | ProgPrompt: Generating Robot Plans using LLMs | |
| 18 | Tue Oct 31 | Project update presentations | Project update | |
| 19 | Thu Nov 2 | Implicit behavioral cloning Main: Sagar, Kajal; Con: Gurnoor, Tisha, Jacob Sharing effort in planning human-robot handover tasks Main: Ruihan; Con: Yifan, Robin, Nithish |
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| 20 | Tue Nov 7 | Guest: Reuben Aronson | Eye-hand behavior in shared manipulation | |
| 21 | Thu Nov 9 | From crowd simulation to robot navigation in crowds Main: Gurnoor, Tisha, Jacob; Con: Ruihan Group-based motion prediction for robot navigation in crowds Main: Yifan, Robin, Nithish; Con: Sagar, Kajal |
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| 22 | Tue Nov 14 | Project clinic: project discussion & feedback | ||
| 23 | Thu Nov 16 | Model predictive control for fluid human to robot handovers Main: Ruihan; Con: Gurnoor, Tisha, Jacob Behavior Transformers: Cloning k modes with one stone Main: Sagar, Kajal; Con: Yifan, Robin, Nithish |
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| 24 | Tue Nov 21 | Algorithms for Microscopic Crowd Simulation: Advancements in the 2010s Main: Gurnoor, Tisha, Jacob; Con: Yifan, Robin, Nithish Adaptive Coordination Strategies for Human-Robot Handovers Main: Ruihan; Con: Sagar, Kajal |
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| Thu Nov 23 | No class - Thanksgiving break | |||
| 25 | Tue Nov 28 | Learning a group-aware policy for robot navigation Main: Yifan, Robin, Nithish; Con: Gurnoor, Tisha, Jacob Recent Advances in Robot Learning from Demonstration Main: Sagar, Kajal; Con: Ruihan |
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| 26 | Thu Nov 30 | Q&A and feedback on report/presentations | ||
| 27 | Tue Dec 5 | Final project presentations | ||
| Mon Dec 11 | Final report | |||
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© 2023 Christoforos Mavrogiannis