ROB 498 /599: Computational Human-Robot Interaction Fall 2024 |
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Note: the schedule is subject to change. Please check back here and on Piazza for updates.
# | Date | Topic | Reading | Deadline |
1 | Mon Aug 26 | Introduction | Minerva | Computational HRI | |
2 | Wed Aug 28 | Bayesian inference | Prob. Rob. Ch 2 | Bayes slides | Knowledge survey due |
Mon Sep 2 | No class - Labor Day | |||
3 | Wed Sep 4 | Filtering | Prob. Rob. Ch 3, 4 | Particle filters | Kalman filters | Team formation due |
4 | Mon Sep 9 | Motion planning | Heuristic search | Sampling-based | CHOMP | |
5 | Wed Sep 11 | Model Predictive Control | MPPI | Navigation | Handovers | |
6 | Mon Sep 16 | HRI systems* | Design and Control of a Bipedal Robotic Character | |
main: Computer Gaze; con: Em&M | ||||
An affective guide robot in a shopping mall | ||||
main: Robln; con: JAM | ||||
7 | Wed Sep 18 | Nonverbal signaling* | Robot Gaze Behaviors in Human-to-Robot Handovers | |
main: Navigation; con: Connor + Evan + Sammie | ||||
Gaze Complements Control Input for Goal Prediction During Assisted Teleoperation | ||||
main: DR. Robot; con: Placeholder 1 | ||||
8 | Mon Sep 23 | Implicit communication* | Legibility and predictability of robot motion | |
main: Cool Beans; con: Minerva | ||||
Generative Expressive Robot Behaviors using Large Language Models | ||||
main: Em&M; con: Computer Gaze | ||||
9 | Wed Sep 25 | Social norms* | Human-robot proxemics: physical and psychological distancing in human-robot interaction | |
main: JAM; con: Robln | ||||
How to approach humans?: strategies for social robots to initiate interaction | ||||
main: Connor + Evan + Sammie; con: Navigation | ||||
10 | Mon Sep 30 | Planning under uncertainty | MDPs | POMDPs | Intention-aware MP | |
11 | Wed Oct 2 | Planning under uncertainty II | Proposal due | |
12 | Mon Oct 7 | Guest Lecture: Heni Ben Amor |
Human Level Competitive Robot Table Tennis | |
13 | Wed Oct 9 | Handovers* | Affordance-Aware Handovers With Human Arm Mobility Constraints | |
main: Placeholder 1; con: DR. Robot | ||||
Learning Human-to-Robot Handovers from Point Clouds | ||||
main: Minerva; con: Cool Beans | ||||
Mon Oct 14 | No class - Fall study break | |||
14 | Wed Oct 16 | Simulation* | Social force model for pedestrian dynamics | |
main: Computer Gaze; con: Em&M | ||||
HABITAT 3.0: A co-habitat for humans, avatars, and robots | ||||
main: Robln; con: JAM | ||||
15 | Mon Oct 21 | Guest Lecture: Peter Schaldenbrand |
FRIDA | CoFRIDA | |
16 | Wed Oct 23 | Experiment design | A primer for conducting experiments in HRI | |
17 | Mon Oct 28 | Learning | Imitation Learning notes | |
18 | Wed Oct 30 | Project update presentations | Project update due | |
19 | Mon Nov 4 | Social Navigation | ||
20 | Wed Nov 6 | Human-robot collaboration* | Anticipatory Robot Assistance for the Prevention of Human Static Joint Overloading in Human–Robot Collaboration | |
main: Navigation; con: Connor + Evan + Sammie | ||||
Human-Robot Cooperative Object Manipulation with Contact Changes | ||||
main: DR. Robot; con: Placeholder 1 | ||||
21 | Mon Nov 11 | Guest Lecture: Michelle Zhao |
Conformalized Teleoperation | |
22 | Wed Nov 13 | Shared control* | Human-Robot Mutual Adaptation in Shared Autonomy | |
main: Cool Beans; con: Minerva | ||||
Human-in-the-Loop Optimization of Shared Autonomy in Assistive Robotics | ||||
main: Em&M; con: Computer Gaze | ||||
23 | Mon Nov 18 | Assistive robotics* | CaBot: Designing and Evaluating an Autonomous Navigation Robot for Blind People | |
main: JAM; con: Robln | ||||
Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control | ||||
main: Connor + Evan + Sammie; con: Navigation | ||||
24 | Wed Nov 20 | Guest Lecture: Tapomayukh Bhattacharjee | Transfer depends on acquisition | |
25 | Mon Nov 25 | Ethics* | Trust and Bias in Robots | |
main: Placeholder 1; con: DR. Robot | ||||
Beyond Asimov: The Three Laws of Responsible Robotics | ||||
main: Minerva; con: Cool Beans | ||||
Wed Nov 27 | No class - Thanksgiving | |||
Mon Dec 2 | Project office hours | |||
26 | Wed Dec 4 | Final project presentations | ||
27 | Mon Dec 9 | Final project presentations | ||
Wed Dec 11 | Final report due |
* indicates student-led discussion