You are here: Home Teaching WS 2021/22 Seminar: Robot Learning

Seminar: Robot Learning

Nikhil Gosala  Daniel Honerkamp Juana Valeria Hurtado Rohit Mohan

Deep learning has become a key enabler of real world autonomous systems. Due to the significant advancement in deep learning, these systems are able to learn various tasks end-to-end, including for perception, state estimation, and control, thereby making important progress in object manipulation, scene understanding, visual recognition, object tracking, and learning-based control, amongst others. In this seminar, we will study a selection of state-of-the-art works that propose deep learning techniques for tackling various challenges in autonomous systems. In particular, we will analyze contributions in architecture design, and techniques selection that also include computer vision, reinforcement learning, imitation learning, and self supervised learning.

autonomous-seminar

Course Information

Details:
Course Number: 11LE13S-7317-M
Places: 12
Zoom Session Details:
Meeting ID: 687 3294 0715
Passcode: Uvi9mKc1b
Course Program:
Introduction: 22/10/2021 @ 14:00
How to make a presentation: 21/01/2022 @ 14:00
Evaluation Program:
  Abstract Due Date: 14/01/2022
  Seminar Presentation: 11/02/2022
  Summary Due Date: 25/02/2022
Requirements:
  Basic knowledge of Deep Learning or Reinforcement Learning
Remarks:
Due to the Corona crisis, the entire seminar will be held online.
Topics will be assigned for the seminar via a preference voting. If there are more interested students than places, places will be assigned based on priority suggestions of the HisInOne system and motivation (tested by asking for a short summary of the preferred paper). The date of registration is irrelevant. In particular, we want to avoid that students grab a topic and then leave the seminar. Please have a coarse look at all available papers to make an informed decision before you commit. 

Course Material

Slides:
Lecture 1: Will be uploaded after the session
Lecture 2: Will be uploaded after the session
Templates:

Additional Information

Enrollment Procedure

  • Enroll through HISinOne, the course number is 11LE13S-7317-M.
  • The registration period for the seminars are from 18/10/2021 to 25/10/2021.
  • Attend the introductory session on 22/10/2021 via Zoom (Session details have been provided above).
  • Select three papers from the topic list (see below) and complete this form by 24/10/2021.
  • Places will be assigned based on priority suggestions of HISInOne and motivation of the student on 28/10/2021.

Evaluation Details

  • Students are expected to write an abstract, prepare a 20-minute long presentation and draft a summary.
  • The abstract should not exceed two pages and is due on TBD
  • The seminar will be held as a virtual "Blockseminar" on TBD
  • The slides of your presentation should be discussed with the supervisor two weeks before the Blockseminar.
  • The summary should not exceed seven pages (excluding bibliography and images) and is due on 30/07/2021. Significantly longer summaries will not be accepted.
  • Ensure you cite all work you use including images and illustrations. Where possible, try to use your own illustrations.
  • The final grade is based on the oral presentation, the written abstract, the summary, and participation in the blockseminar.

What should the Summary contain?

The summary should address the following questions:

  • What is the paper's main contribution and why is it important?
  • How does it relate to other techniques in the literature?
  • What are the strengths and weaknesses of the paper?
  • What would be some interesting follow-up work? Can you suggest any possible improvements in the proposed methods? Are there any further interesting applications that the authors might have overlooked?

Graded Component Submission

  • Save your document as a PDF and directly submit it to your topic supervisor via email.
  • The filename should be in the format "FirstName_LastName_X.pdf" where X is the evaluation component (Abstract / Summary / Presentation).

Topics

  1. Implicit Behavioral Cloning
    Supervisor: Eugenio Chisari
  2. Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation
    Supervisor: Eugenio Chisari
  3. PnPNet: End-to-End Perception and Prediction with Tracking in the Loop
    Supervisor: Nikhil Gosala
  4. CertainNet: Sampling-free Uncertainty Estimation for Object Detection
    Supervisor: Nikhil Gosala
  5. XIRL: Cross-embodiment Inverse Reinforcement Learning
    Supervisor: Daniel Honerkamp
  6. Explore and Control with Adversarial Surprise
    Supervisor: Daniel Honerkamp
  7. Weakly Supervised Multi-Object Tracking and Segmentation
    Supervisor: Juana Valeria Hurtado
  8. Instance-Aware Predictive Navigation in Multi-Agent Environments
    Supervisor: Juana Valeria Hurtado
  9. Quasi-Dense Similarity Learning for Mutiliple object tracking
    Supervisor: Rohit Mohan
  10. Rethinking Space-Time Networks with Improved Memory Coverage for Efficient Video Object Segmentation
    Supervisor: Rohit Mohan
  11. GTI: Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations
    Supervisor: Adrian Röfer
  12. Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
    Supervisor: Adrian Röfer

Questions?

If you have any questions, please direct them to Adrian Röfer before the topic allotment, and to your supervisor after you have received your topic.