MACHINE LEARNING FOR ROBOTICS I

MACHINE LEARNING FOR ROBOTICS I

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Last update 02/07/2020 13:14
Code
86928
ACADEMIC YEAR
2020/2021
CREDITS
5 credits during the 1st year of 10635 ROBOTICS ENGINEERING (LM-32) GENOVA
SCIENTIFIC DISCIPLINARY SECTOR
INF/01
LANGUAGE
English
TEACHING LOCATION
GENOVA (ROBOTICS ENGINEERING )
semester
1° Semester
Teaching materials

OVERVIEW

The goal of the Machine Learning module is both to provide the basics of machine learning and pattern recognition theory and to expose the student to machine learning methods, workflows, and best practices, with emphasis on applications in Robotics and a focus on artificial neural networks as well as several other techniques.

AIMS AND CONTENT

LEARNING OUTCOMES

The goal of the class is to present Artificial Neural Networks and other well-known Machine Learning techniques as systems for solving supervised and unsupervised learning problems, with a specific emphasis on Robotics applications. Such learning systems can be applied to pattern recognition, function approximation, time-series prediction and clustering problems. Some mention will be made to the use of ANNs as static systems for information coding, and dynamical systems for optimization and identification.

AIMS AND LEARNING OUTCOMES

After successfully attending this course, students will have an exposure to many topics that underlie the field of machine learning, so that they will be able to autonomously apply the methods presented as well as other methods to concrete problems. During practical activities, students will both implement several methods from scratch, and use existing machine learning libraries, thus gaining a hands-on experience backed up by the theoretical concepts.

PREREQUISITES

  • Basic multi-dimensional calculus
  • Continuous optimization
  • Probability and some information theory
  • Discrete proficiency in programming (one of Matlab or Python, or ability to quickly catch up if coming from different programming backgrounds)

Teaching methods

  • Lectures
  • Practical assignments, formatted as homeworks but also worked out with assistance by the teacher during lab hours, to be handed in every 2 weeks

Assignments are used for continuous assessment whose weight is 50% of the final marks, the rest being obtained with a final exam and discussion.

Due to the teaching style and to the continuous assessment, attendance is mandatory

SYLLABUS/CONTENT

  1. Introduction
  2. Perceptual problems
  3. The decision problem in the presence of complete deterministic information: Representation problems
  4. The decision problem in the presence of complete probabilistic information: Bayes decision theory
  5. The decision problem in the presence of incomplete samples (data): Statistics and the learning problem. Inductive bias, the bias-variance dilemma
  6. Parametric methods and maximum likelihood estimation
  7. Non-parametric methods, some popular classification and clustering methods
  8. Evaluating learning: Indexes and resampling methods.
  9. Neural networks: Historical methods, shallow networks
  10. The learning problem as optimization. Algorithms and strategies.
  11. Data mapping: Dimensionality reduction and kernel methods 
  12. Deep neural networks
  13. Learning from sequential data

RECOMMENDED READING/BIBLIOGRAPHY

Course slides and assignments are available on the official study portal.

A selection of suggested readings (journal articles and textbooks) will be provided during lectures.

TEACHERS AND EXAM BOARD

Ricevimento: All lecture days after class (approx. 20 min). Upon prior agreement, at any other time.

Exam Board

STEFANO ROVETTA (President)

FRANCESCO MASULLI

RENATO UGO RAFFAELE ZACCARIA

ARMANDO TACCHELLA (President Substitute)

LESSONS

Teaching methods

  • Lectures
  • Practical assignments, formatted as homeworks but also worked out with assistance by the teacher during lab hours, to be handed in every 2 weeks

Assignments are used for continuous assessment whose weight is 50% of the final marks, the rest being obtained with a final exam and discussion.

Due to the teaching style and to the continuous assessment, attendance is mandatory

LESSONS START

Beginning of the Autumn semester.

ORARI

L'orario di tutti gli insegnamenti è consultabile su EasyAcademy.

EXAMS

Exam description

Oral

Assessment methods

The final exam consists in an interview with technical questions and exercises, and in the discussion of the assignments. Final marks given 50% by continuous assessment and 50% by exam.

FURTHER INFORMATION

About 30 hours of lectures and 18 hours of assignments / guided exercises.