COMS 4733: Computational Aspects of Robotics

Overview:

This course is an overview of the field of robotics. The intent of this course is to give students an in-depth understanding of how robots work, and the application and use of computation to typical robotic problems. Students will also be exposed to current research directions in robotics. A key component of the class is programming mobile robots and manipulators to implement robotic perception and planning algorithms.


  • Lecture Time: Fri 10:10 - 12:40

  • Lecture Location: 428 PUPIN

  • Instructor: Shuran Song

  • TAs:

  • Neil Nie (yn2376)

  • Zeyi Liu (zl2753)

  • Arpit Bahety (ab5232)

  • Yulong Li (yl4095)

  • Shreeya Jain (sj3131)

  • Office Hours:

  • Shuran: Mon 5:00 - 6:00 pm (lecture related question)

  • TAs: (Homework related question)
    3-4:30 PM on Tuesdays

1-2:30 PM on Wednesdays

10-11:30 PM on Thursdays

Topics include:

  • Coordinate frames and representations.

  • Specification of position and orientation

  • Simulation environments

  • Perception in robotics: 2D and 3D vision

  • Learning-based perception

  • Planning strategies in robotics.

  • Manipulator forward and inverse kinematics

  • Learning-based planning: imitation learning, reinforcement learning, etc

  • Advanced topics and case study

Pre-requisites:

  • Data Structures

  • Knowledge of at least one of the following: C, C++,Python or Java. We will be using Python extensively in this course.

  • Knowledge of elementary linear algebra

Grading:

  • Programming assignments: 5%, 20%,25%, 25%+(5% extra credits),25%

  • Grade cutoff:

  • A+: 98 +, A: 92-98, A-: 87-91

  • B+: 83-86, B: 80-82, B-: 78-79

  • C: 70-77, D: 60-69, F: Below 60

Turn in Homework before the deadline.

  • Time of deadline 5 pm

  • You have 4 late days for the whole semester (count by day e.g., an hour late == a day)

  • No more exception beyond the 4 late days.

Policies and Procedures Regarding Academic Honesty

Text Book

We do not require a textbook. However, you may find the following books are useful resources: