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CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2021/2022

Robot Learning

The course is not on the list Without time-table
Code Completion Credits Range Language
B3B33UROB Z,ZK 6 2P+2C Czech
The course cannot be taken simultaneously with:
Robot Vision (B3B33VIR)
The course is a substitute for:
Robot Vision (B3B33VIR)
Lecturer:
Karel Zimmermann (guarantor)
Tutor:
Karel Zimmermann (guarantor)
Supervisor:
Department of Cybernetics
Synopsis:

The course teaches application of machine learning methods and optimization on well-known robotic problems, such as semantic segmenation from RGB-D data or reactive motion control. The core of the course represents teaching of deep learning methods.

Stidents will use basic knowledge from optimization and linear algebra such as robut solving of overdetermined systems of (non)linear (non)homogenous equations or gradient minimization methods. The labs are divided into two parts, in the first one, the students will solve basic tasks in PyTorch, in the second one, individual semestral work.

Requirements:
Syllabus of lectures:

1. Overview and lecture outline.

2. Regression ML/MAP

3. Classification ML/MAP

4. Neural networks, backpropagation

5. Convolution leyer, backpropagation

6. Normalization leyer (BachNorm, InstanceNorm, ...) a backpropagation

7. Training I (SGD, momentum and their convergence ratio)

8. Training II (Nester gradient, Adam optimizer, activation function impact on optimization problems)

9. Architectures of deep neural networks I: detection (yolo), segmentation (DeepLab), classification (ResNet)

10. Architectures of deep neural networks II: pose regression, spatial transformer nets.

11. Generative Adversarial Networks, Cascaded Refinement Networks, Style Transfer Networks

12. Reinforcement learning in robotics (policy gradient, imitation learning, actor-critic, aplications)

13. Learning from weak annotations (weak-supervision, self-supervision)

14. Presentation of semestral works

Syllabus of tutorials:

In the first half of labs, the students will solve basic tasks in PyTorch, in the second one, the students will work on individual semestral works.

Study Objective:

The course teaches application of machine learning methods and optimization on well-known robotic problems, such as semantic segmenation from camera and deep images or reactive robot control. The core of the course represents teaching of deep CNN application methods.

Study materials:

Ian Goodfellow and Yoshua Bengio and Aaron Courville, Deep learning, MIT press, 2016 http://www.deeplearningbook.org

Note:
Further information:
https://cw.fel.cvut.cz/wiki/courses/b3b33vir/start
No time-table has been prepared for this course
The course is a part of the following study plans:
Data valid to 2022-08-08
For updated information see http://bilakniha.cvut.cz/en/predmet6651806.html