CSCI 4155/6505 Machine Learning (with Robotics) 2011
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... Instructor: Dr. Thomas Trappenberg ... Office: Room 4216 (in Mona Campbell Building on Coburg RD) .... email: tt@cs.dal.ca .... Office hour: TBA
This course discusses learning theories and demonstrates these strategies with robots. The topics include su- pervised learning, in particular maximum likelihood estimation in stochastic models and statistical learning theory including support vector machines, unsupervised learning which inclused generative models, expecta- tion maximization, and Bolzmann machines, and reinforcement learning including Markov decision processes and temporal difference learning. The course includes introductins to the MATLAB programming environ- ment, a refresher of basic probability theory, and the use of a robotics environment.
There is no required text for the course. Course notes will be posted on the course web site. But I recomment the following additional reading:
Christopher Bishop, Pattern Recognition and Machine Learning, Springer 2006.
Ethem Alapydin, Machine Learning, MIT Press, second edition, 2011
Lecture notes by Andrew Ng: http://www.stanford.edu/class/cs229/materials.html and http://www.stanford.edu/c
Russell and Norvig, Artificial Intelligence: A modern approach, Prentice Hall
Richard Sutton and Andrew Barto, Reinforcement Learning: An Introduction, MIT press, 1998.
S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics, MIT Press 2005.
We will be using the Matlab programming environment that is provided on the workstations in the teaching lab. Note that a student license is available for around $100 in case you want to buy one for your laptop or home use.
CSCI 4155: 40% Assignments, 40% Tests, 20% Project
CSCI 6505: 20% Assignments, 40% Tests, 40% Project
Grades will be assigned using the letter grade scale as defined in section 17.1 of Dalhousie Academic Calendar.
Oct 22: Latest script up to chapter on graphical models
Nov 8: Chapter 9 on unsupervised learning
Nov 22: Last two chapters on MDP and RL
| Date | Topic | Test | Assignment |
| Sep 8 | Intro, sensing&acting | ||
| Sep 13 | Basic Prob | A1, due Sep 15 before class | |
| Sep 15 | Basic Prob/Matlab | A2, due Sep 21, midnight | |
| Sep 20 | Basic Matlab/ Basic NXT | ||
| Sep 22 | Basic NXT | A3, due Sept 29 before class | |
| Sep 27 | Control / Basic NXT | ||
| Sep 29 | Control/Navigation | A4, due Oct 6 before class | |
| Oct 4 | Regression / Gradient Descent | ||
| Oct 6 | MLE | T1 | |
| Oct 11 | Classification | A5 | |
| Oct 13 | Adaptive Control | ||
| Oct 18 | Generative | A6, due Oct 27 bedore class | |
| Oct 20 | SVM | ||
| Oct 25 | Graphical | Projects: CSCI4155 & CSCI 6505 | |
| Oct 27 | TBA (Paul or Patrick) | T2 | |
| Nov 1 | Grapgical Models 2, HHM, | ||
| Nov 3 | localization, SLAM | ||
| Nov 8 | Unsupervised | ||
| Nov 10 | STUDY DAY | ||
| Nov 15 | Unsupervised | ||
| Nov 22 | MDP | T3 | |
| Nov 24 | TD learning | ||
| Nov 29 | Model-based | ||
| Dec 1 | Final Project | ||
| Dec 6 | Final | T4 |
A first demostration program to control the tribot with Matlab: WallAvoidance.m
Some example programs to discuss control. A simple linear contoller: linearController.m and a proportianal feedabck conoller: feedbackController.m
A demonstration program of the A* search algorithm, written by Bob Sturm. A simplified matlab function based on this demonstration is AstarPathPlanner.m.
RBM demo from Geoff Hinton
RBMletter example (zip file)
A brief guide to writing a scientific paper
(Based on the sample statement provided at http://academicintegrity.dal.ca. Written by Dr. Alex Brodsky.)
Please familiarize yourself with the university policy on Intellectual Honesty. Every suspected case will be reported.
At Dalhousie University, we respect the values of academic integrity: honesty, trust, fairness, responsibility and respect. As a student, adherence to the values of academic integrity and related policies is a requirement of being part of the academic community at Dalhousie University.
What does academic integrity mean?
Academic integrity means being honest in the fulfillment of your academic responsibilities thus establishing mutual trust. Fairness is essential to the interactions of the academic community and is achieved through respect for the opinions and ideas of others. Violations of intellectual honesty are offensive to the entire academic community, not just to the individual faculty member and students in whose class an offence occurs. (see Intellectual Honesty section of University Calendar)
How can you achieve academic integrity?
• Make sure you understand Dalhousies policies on academic integrity.
• Give appropriate credit to the sources used in your assignment such as written or oral work, com- puter codes/programs, artistic or architectural works, scientific projects, performances, web page designs, graphical representations, diagrams, videos, and images. Use RefWorks to keep track of your research and edit and format bibliographies in the citation style required by the instructor (http://www.library.dal.ca/How/RefWorks)
• Do not download the work of another from the Internet and submit it as your own.
• Do not submit work that has been completed through collaboration or previously submitted for another assignment without permission from your instructor. • Do not write an examination or test for someone else.
• Do not falsify data or lab results.
These examples should be considered only as a guide and not an exhaustive list.
What will happen if an allegation of an academic offence is made against you?
I am required to report a suspected offence. The full process is outlined in the Discipline flow chart, which can be found at: http://academicintegrity.dal.ca/Files/AcademicDisciplineProcess.pdf and in- cludes the following:
1. Each Faculty has an Academic Integrity Officer (AIO) who receives allegations from instructors.
2. The AIO decides whether to proceed with the allegation and you will be notified of the process.
3. If the case proceeds, you will receive an INC (incomplete) grade until the matter is resolved.
4. If you are found guilty of an academic offence, a penalty will be assigned ranging from a warning to a suspension or expulsion from the University and can include a notation on your transcript, failure of the assignment or failure of the course. All penalties are academic in nature.
Where can you turn for help?
• If you are ever unsure about ANYTHING, contact myself.
• The Academic Integrity website (http://academicintegrity.dal.ca) has links to policies, defini tions, online tutorials, tips on citing and paraphrasing.
• The Writing Center provides assistance with proofreading, writing styles, citations.
• Dalhousie Libraries have workshops, online tutorials, citation guides, Assignment Calculator, Ref- Works, etc.
• The Dalhousie Student Advocacy Service assists students with academic appeals and student discipline procedures.
• The Senate Office provides links to a list of Academic Integrity Officers, discipline flow chart, and Senate Discipline Committee.