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CS 331B: Interactive Simulation for Robot Learning

This course provides a research survey of advanced methods for robot learning in simulation, analyzing the simulation techniques and recent research results enabled by advances in physics and virtual sensing simulation. The course covers two main components: agent-environment interactions and domains for multi-agent and human-robot interaction. First, we cover agent-environment interactions by studying novel simulation environments for robotics, imitation and reinforcement learning methods, simulation for navigation and manipulation and `sim2real' techniques. In the second part, we explore models and algorithms for simulation and robot learning in multi-agent domains and human-robot interaction, studying the principles of learning for interactive tasks in which each agent collaborates to accomplish tasks. The topics include domains of social navigation, human-robot collaborative manipulation and multi-agent settings.nnThis a project-based seminar class. Projects will leverage the state-of-the-art simulation environment iGibson, in which students will develop simulations to explore learning and planning methods for diverse domains. We will provide a list of suggested projects but students might also propose an original idea. The course will cover a set of research papers with presentations by students. This is a research field in rapid transformation with exciting research lines. The goal of the class is to provide practical experience and understanding of the main research lines to enable students to conduct innovative research in this field.
Terms: Spr | Units: 3
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