MACHINE LEARNING FOR ROBOTICS I

MACHINE LEARNING FOR ROBOTICS I

_
iten
Codice
86928
ANNO ACCADEMICO
2020/2021
CFU
5 cfu al 1° anno di 10635 ROBOTICS ENGINEERING (LM-32) GENOVA
SETTORE SCIENTIFICO DISCIPLINARE
INF/01
LINGUA
Inglese
SEDE
GENOVA (ROBOTICS ENGINEERING )
periodo
1° Semestre
materiale didattico

PRESENTAZIONE

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.

 

OBIETTIVI E CONTENUTI

OBIETTIVI FORMATIVI

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.

OBIETTIVI FORMATIVI (DETTAGLIO) E RISULTATI DI APPRENDIMENTO

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.

 

PREREQUISITI

  • 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)

 

Modalità didattiche

  • 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

 

PROGRAMMA/CONTENUTO

  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

 

TESTI/BIBLIOGRAFIA

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.

 

DOCENTI E COMMISSIONI

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

Commissione d'esame

RENATO UGO RAFFAELE ZACCARIA (Presidente)

STEFANO ROVETTA (Presidente)

LEZIONI

Modalità didattiche

  • 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

 

INIZIO LEZIONI

Beginning of the Autumn semester.

 

ESAMI

Modalità d'esame

Oral

Modalità di accertamento

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.

 

ALTRE INFORMAZIONI

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