CS 309 (50660): Autonomous Intelligent Robotics (FRI I)
Office Hours & Contact Info
|Instructor||Justin W. Hartfirstname.lastname@example.org||Monday||4:00pm-5:00pm|
|GDC 3.402 or BWI lab||Thursday||5:15pm-6:15pm|
|Teaching Assistant||Yuqian Jiangemail@example.com||Tuesday||10:30am-11:30am|
|GDC 3.504A or BWI lab||Thursday||1:30pm-2:30pm|
This class provides students with an understanding of modern research in the areas of robotics, artificial intelligence, and human-robot interaction. It is the first part of a two-course sequence, and serves in-part as preparation for the more complex work in CS 378: FRI II. In FRI II, students pursue a semester-long robotics research project. In this course, students learn the meaning and value of robotics research. They learn some of the technical skills necessary for research on the Building-Wide Intelligence project, and for participation in the RoboCup@Home team. On its own, it serves as a primer on the topics that it covers. As a two-course sequence, it provides exposure to performing research in a real laboratory with real robots. It also can serve as a preparation for long-term research projects on a volunteer basis, as a peer mentor, or as a member of the UT Austin Villa RoboCup@Home Team.
More details about BWI can be found at http://www.cs.utexas.edu/~larg/bwi_web/
More details about RoboCup@Home can be found at http://www.robocupathome.org/
Teaching ObjectivesThe following topics will be covered:
- Introductory C++ programming
- Robot Operating System (ROS)
- Basics of Artificial Intelligence & Human-Robot Interaction
- Reading & writing scientific research papers
- Reading research with a critical eye and understanding
- Giving good presentations
- Performing and understanding good research
Notice: Portions of this class take place in a robotics lab
Some of the assignments you undertake this semester will require you to use the BWI Lab, in GDC 3.414.
In order to maintain productivity in the lab, please observe the following. Failure to do so will harm the lab's productivity, and repeat offenders will be banned from the lab and receive failing grades on assignments taking place in the lab.
- If you break something, immediately report it to a mentor, the TA, or the instructor. (In that order.)
- Breakages happen, but we have to handle them quickly as downtime can harm research progress.
- Students and faculty performing research for scientific publications work on strict deadlines, and problems must be quickly addressed.
- Always leave the robots on chargers when not in use, regardless of whether you were the last to use them.
- Do NOT over-tighten the screws on the robot charging cables. The screws will break, and this will lead to downtime.
- A red light means that the charger is not connected. Report issues to a mentor, the TA, or the instructor. (In that order.)
- A flashing green light means that the charger in a special charging cycle. It's fine.
- Do NOT leave computers locked. Some computers may be locked by researchers in the lab. Students should not lock them.
- The computers with the LED cases or connected to robots are for student use (except the Alienware laptop, or Alienware gaming PC).
- On the first day in lab, a few computers with special purposes will be identified. Do not log into these machines either locally or remotely.
- Do not hold group meetings in the hallways or meeting areas on the AI corridor with no door. Those areas are for the use of AI lab graduate students, faculty, and staff only.
- Do not meet with groups other than your robotics final project group in the lab. That space is reserved for class and research purposes.
There is no textbook for this course.
There will be a series of 4 papers to which students are expected to give written responses and participate in in-class discussions.
At the end of the semester, a final research project will be performed as groups. For this, students are expected to act on what they learned this semester and perform a literature survey to justify the ideas in their experiments.
Class sessions will be held in Welch (WEL) 2.128 on Tuesdays and Thursdays. Attendance is mandatory. Students are expected to email the instructor in advance to inform of any potential absences. Several of the homeworks will involve working on real robots, which can be found in the laboratory, GDC 3.414.
Prerequisites / Necessities
Students are also expected to be able to work independently. There is no programming pre-requisite for this course, though a working knowledge of programming will be helpful. Four of the six first lectures in the class will be dedicated to C++ programming, with intensive programming instruction in ROS to follow. Homeworks and projects will utilize ROS in the C++ programming language.
It is advisable (though not mandatory) to install ROS on a Linux machine (preferably a laptop) in order to do your homework and projects for this class.
Running ROS in a virtual machine tends to work very poorly, and the mentors, TA, and instructor will not help you accomplish this. We are happy to help you with ROS on native Linux machines.
Alternatively, the machines in the BWI lab and in the downstairs computer lab have ROS installed. Note that all of the robots in the BWI lab run ROS Kinetic, which is kept in sync with the Toyota Human Support Robot. The department supports Melodic. As such, there may be subtle differences.
Grades will be based on:
|Class participation and attendance||10%|
The final project will comprise the following components. You will be graded equally on both of these as well as successful completion of the project:
|Final Project Report|
Plus and minus grades will be used in final grading of the course.
Final project presentations will be during the final exam slot on Monday, May 20 from 9:00am-12:00pm.
Final project reports will be due on Monday, May 20 immediately following the final project presentation.
Planned Lecture Schedule
Schedule subject to change due to pace of class, see website for updates.
Reading responses due the night before corresponding reading discussions at 11:59pm.
|Date||Title||Assignment Set||Assignment Due||Readings||Slides|
|01/22/19||Introduction, Kickoff with Peter Stone, Panel with Peer Mentors||[PDF]|
|01/24/19||Setting the Stage: An Introduction to Artificial Intelligence: Part 1||[PDF]|
|01/29/19||C++ Tutorial: Part 1||No Slides|
|01/31/19||Setting the Stage: An Introduction to Artificial Intelligence: Part 2||[PDF]|
|C++ Tutorial: Part 2|
|02/05/19||C++ Tutorial: Part 3||HW1 goes out||No Slides|
|02/07/19||C++ Tutorial: Part 4||[PDF]|
|Symbolic Reasoning, Search, & PDDL|
|02/12/19||Symbolic Reasoning, Search, & PDDL||[PDF]|
|02/14/19||Symbolic Reasoning, Search, & PDDL||HW1 due 11:59pm||[PDF]|
|How to Read Papers||Paper 1: No Fair!! An Interaction with a Cheating Robot||[Paper PDF]|
|02/18/19||Reading Responses due 11:59pm|
|02/19/19||Paper 1: No Fair!! An Interaction with a Cheating Robot||HW2 goes out||[PDF]|
|Intro to Human-Robot Interaction|
|02/21/19||Intro to ROS||[PDF]|
|02/26/19||Publish/Subscribe & ROS Topics||[PDF]|
|ROS Service Tutorial|
|02/27/19||HW2 due 11:59pm|
|02/28/19||Publish/Subscribe & ROS Topics||[PDF - Continued from Last Time]|
|Paper 2: Elephants Don't Play Chess||[Paper PDF]|
|03/04/19||Reading Responses due 11:59pm|
|03/05/19||Reading Discussion: Elephants Don't Play Chess||[PDF]|
|ROS Topics & Service Calls|
|03/07/19||OpenCV and rviz||[PDF]|
|03/12/19||Coordinate Frames & Spatial Transformations||HW3 goes out||[PDF]|
|03/14/19||Coordinate Frames & Spatial Transformations||[PDF]|
|03/26/19||Starting the Robot||HW4 goes out|
|BWIBot Demo||HW3 due 11:59pm|
|03/28/19||TF2: Part 2|
|Alvar, ARToolkit, and Similar|
|04/02/19||Bringing it together with Eigen||HW4 due 11:59pm|
|04/04/19||ROS Navigation Goals||HW5 goes out|
|Project Group Formation||Email project groups to Prof. Hart by 11:59pm|
|04/09/19||Practical Tips for HW5|
|Preparing for Final Projects||Plan for a partial solution for HW5 by tonight.|
|04/11/19||Final Project Proposal Workshop||HW6 goes out||HW5 due 11:59pm|
|04/16/19||Final Project Proposals||HW6 due 11:59pm|
|Final Proposal Debugging|
|04/18/19||Writing Final Papers||Paper 3: TBD|
|04/22/19||Reading Responses due 11:59pm|
|04/23/19||Reading Discussion: TBD|
|04/25/19||LaTeX & Overleaf|
|Project Work Session in Lab (After Lecture)|
|04/30/19||Giving Final Project Talks|
|05/02/19||Project Work Session in Lab||Paper 4: TBD|
|05/06/19||Reading Responses due 11:59pm|
|05/07/19||Reading Discussion: Paper TBD|
|Project Work Session in Lab|
|05/09/19||Project Work Session in Lab|
|05/20/18||Final Project Presentations & Papers|
- Assignments are subject to revision, possibly significant, up to the date assigned.
- You are free to take a look at the homework that is ahead.
- Please do not skip class because you have gotten ahead, you may miss something that you need and it will harm your participation grade!
- You are responsible for doing the homework as assigned on the day it is assigned. So, if you attempt a future assignment, please check back to make sure it has not been revised before turning it in!
|02/12/18||HW 1: C++ Exercises||[PDF]||[DIR]|
|02/26/18||HW 2: Planning with PDDL||[PDF]|
|03/26/18||HW 3: ROS Basics & Simple Color Filtering||[PDF]||[BAG]|
|04/02/18||HW 4: Start up the Robot||[PDF]|
|04/11/18||HW 5: Follow the AR Tag|
|04/16/18||HW 6: 1-Page Final Project Description|
|05/20/18||Final Project Paper|
|05/20/18||Final Project Presentation - During Exam Period|
|Ubuntu Linux||https://www.ubuntu.com/||You want 16.04|
|ROS||https://www.ros.org/||You want Kinetic, if possible|
To be released as we cover this material in class.
|All C++ examples covered in class as a tar.gz||[c++.tar.gz]|
|Example 01||[ex01]||Hello World! Using printf|
|Example 02||[ex02]||Hello World! Using std::cout|
|Example 04||[ex04]||Assignment. Initialization. Pre/post-increment.|
|Example 08||[ex08]||Header files and function prototypes|
|Example 09||[ex09]||Header files with separate implementations|
|Example 10||[ex10]||Comparisons, if/then/else, basic flow control.|
|Example 11||[ex11]||Basic types.|
|Example 12||[ex12]||Pointers and references.|
|Example 16||[ex16]||Pulling it Together.|
|Example 17||[ex17]||Inheritance and Abstract Classes.|
|Example 18||[ex18]||Runtime errors & signed variables.|
As this is a research course, it is important to use the many tools at your disposal to achieve your research goals. Students will work in groups in this course, and are expected to collaborate with their teams and outside of their immediate teams in order to achieve the best results possible. When you leverage someone else's work, cite them. Citations are the currency of the scientific community. Use third-party software, but make sure to honor licenses and cite the authors. In this course, you will be graded on what you accomplish above and beyond what is already freely available. If this means implementing an algorithm, state which parts were your original work or implementation in your progress reports, and which parts were downloaded or were someone else's ideas. In this class, leveraging such resources is encouraged. It makes code easier to maintain and update, and encourages potential collaborations with other institutions. Invest your efforts in making novel discoveries or implementing functionality beyond what is freely available. Do, however, abide by Computer Science Department's Academic Honesty Policy, which can be found at http://www.cs.utexas.edu/users/ear/CodeOfConduct.html
Students with Disabilities
The University of Texas at Austin provides upon request appropriate academic accommodations for qualified students with disabilities. To determine if you qualify, please contact the Dean of Students at 471-6529; 471-4641 TTY. If they certify your needs, I will work with you to make appropriate arrangements. Further information can be found at http://www.utexas.edu/diversity/ddce/ssd/.
Missed Work Due to Religious Holy Days
A student who misses an examination, work assignment, or other project due to the observance of a religious holy day will be given an opportunity to complete the work missed within a reasonable time after the absence, provided that he or she has properly notified the instructor. It is the policy of the University of Texas at Austin that the student must notify the instructor at least fourteen days prior to the classes scheduled on dates he or she will be absent to observe a religious holy day. For religious holy days that fall within the first two weeks of the semester, the notice should be given on the first day of the semester. The student will not be penalized for these excused absences, but the instructor may appropriately respond if the student fails to complete satisfactorily the missed assignment or examination within a reasonable time after the excused absence.
This course, as presented by Justin Hart in conjunction with Peter Stone. It is part of the University of Texas at Austin, Texas Institute for Discovery Education in Science, Freshman Resaerch Initiative Program. The course was originally conceived by Peter Stone, and this material is an evolution of material developed by Jivko Sinapov, who succeeded Matteo Leonetti. It is influenced by Brian Scassellati's CS 473b: Intelligent Robotics course at Yale University.