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MACHINE LEARNING FOR ROBOTICS I

CODE 86928
ACADEMIC YEAR 2022/2023
CREDITS
  • 5 cfu during the 1st year of 10635 ROBOTICS ENGINEERING (LM-32) - GENOVA
  • SCIENTIFIC DISCIPLINARY SECTOR INF/01
    LANGUAGE English
    TEACHING LOCATION
  • GENOVA
  • SEMESTER 1° Semester
    TEACHING MATERIALS AULAWEB

    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

    Exam Board

    STEFANO ROVETTA (President)

    FRANCESCO MASULLI

    RENATO UGO RAFFAELE ZACCARIA

    ARMANDO TACCHELLA (President Substitute)

    LESSONS

    Class schedule

    All class schedules are posted on the EasyAcademy portal.

    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.

    Exam schedule

    Date Time Location Type Notes

    FURTHER INFORMATION

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