# Suchergebnis: Katalogdaten im Herbstsemester 2020

Rechnergestützte Wissenschaften Master | ||||||

Vertiefungsgebiete | ||||||

Robotik Höchstens eine der beiden Lerneinheiten 263-5902-00L Computer Vision bzw. 227-0447-00L Image Analysis and Computer Vision darf an das gesamte Studium (Bachelor und Master) angerechnet werden. | ||||||

Nummer | Titel | Typ | ECTS | Umfang | Dozierende | |
---|---|---|---|---|---|---|

151-0601-00L | Theory of Robotics and Mechatronics | W | 4 KP | 3G | P. Korba, S. Stoeter | |

Kurzbeschreibung | This course provides an introduction and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. | |||||

Lernziel | Robotics is often viewed from three perspectives: perception (sensing), manipulation (affecting changes in the world), and cognition (intelligence). Robotic systems integrate aspects of all three of these areas. This course provides an introduction to the theory of robotics, and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. | |||||

Inhalt | An introduction to the theory of robotics, and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. | |||||

Skript | available. | |||||

252-0535-00L | Advanced Machine Learning | W | 10 KP | 3V + 2U + 4A | J. M. Buhmann, C. Cotrini Jimenez | |

Kurzbeschreibung | Machine learning algorithms provide analytical methods to search data sets for characteristic patterns. Typical tasks include the classification of data, function fitting and clustering, with applications in image and speech analysis, bioinformatics and exploratory data analysis. This course is accompanied by practical machine learning projects. | |||||

Lernziel | Students will be familiarized with advanced concepts and algorithms for supervised and unsupervised learning; reinforce the statistics knowledge which is indispensible to solve modeling problems under uncertainty. Key concepts are the generalization ability of algorithms and systematic approaches to modeling and regularization. Machine learning projects will provide an opportunity to test the machine learning algorithms on real world data. | |||||

Inhalt | The theory of fundamental machine learning concepts is presented in the lecture, and illustrated with relevant applications. Students can deepen their understanding by solving both pen-and-paper and programming exercises, where they implement and apply famous algorithms to real-world data. Topics covered in the lecture include: Fundamentals: What is data? Bayesian Learning Computational learning theory Supervised learning: Ensembles: Bagging and Boosting Max Margin methods Neural networks Unsupservised learning: Dimensionality reduction techniques Clustering Mixture Models Non-parametric density estimation Learning Dynamical Systems | |||||

Skript | No lecture notes, but slides will be made available on the course webpage. | |||||

Literatur | C. Bishop. Pattern Recognition and Machine Learning. Springer 2007. R. Duda, P. Hart, and D. Stork. Pattern Classification. John Wiley & Sons, second edition, 2001. T. Hastie, R. Tibshirani, and J. Friedman. The Elements of Statistical Learning: Data Mining, Inference and Prediction. Springer, 2001. L. Wasserman. All of Statistics: A Concise Course in Statistical Inference. Springer, 2004. | |||||

Voraussetzungen / Besonderes | The course requires solid basic knowledge in analysis, statistics and numerical methods for CSE as well as practical programming experience for solving assignments. Students should have followed at least "Introduction to Machine Learning" or an equivalent course offered by another institution. PhD students are required to obtain a passing grade in the course (4.0 or higher based on project and exam) to gain credit points. | |||||

263-3210-00L | Deep Learning | W | 8 KP | 3V + 2U + 2A | T. Hofmann | |

Kurzbeschreibung | Deep learning is an area within machine learning that deals with algorithms and models that automatically induce multi-level data representations. | |||||

Lernziel | In recent years, deep learning and deep networks have significantly improved the state-of-the-art in many application domains such as computer vision, speech recognition, and natural language processing. This class will cover the mathematical foundations of deep learning and provide insights into model design, training, and validation. The main objective is a profound understanding of why these methods work and how. There will also be a rich set of hands-on tasks and practical projects to familiarize students with this emerging technology. | |||||

Voraussetzungen / Besonderes | This is an advanced level course that requires some basic background in machine learning. More importantly, students are expected to have a very solid mathematical foundation, including linear algebra, multivariate calculus, and probability. The course will make heavy use of mathematics and is not (!) meant to be an extended tutorial of how to train deep networks with tools like Torch or Tensorflow, although that may be a side benefit. The participation in the course is subject to the following condition: - Students must have taken the exam in Advanced Machine Learning (252-0535-00) or have acquired equivalent knowledge, see exhaustive list below: Advanced Machine Learning https://ml2.inf.ethz.ch/courses/aml/ Computational Intelligence Lab http://da.inf.ethz.ch/teaching/2019/CIL/ Introduction to Machine Learning https://las.inf.ethz.ch/teaching/introml-S19 Statistical Learning Theory http://ml2.inf.ethz.ch/courses/slt/ Computational Statistics https://stat.ethz.ch/lectures/ss19/comp-stats.php Probabilistic Artificial Intelligence https://las.inf.ethz.ch/teaching/pai-f18 | |||||

263-5210-00L | Probabilistic Artificial Intelligence | W | 8 KP | 3V + 2U + 2A | A. Krause | |

Kurzbeschreibung | This course introduces core modeling techniques and algorithms from machine learning, optimization and control for reasoning and decision making under uncertainty, and study applications in areas such as robotics and the Internet. | |||||

Lernziel | How can we build systems that perform well in uncertain environments and unforeseen situations? How can we develop systems that exhibit "intelligent" behavior, without prescribing explicit rules? How can we build systems that learn from experience in order to improve their performance? We will study core modeling techniques and algorithms from statistics, optimization, planning, and control and study applications in areas such as sensor networks, robotics, and the Internet. The course is designed for graduate students. | |||||

Inhalt | Topics covered: - Probability - Probabilistic inference (variational inference, MCMC) - Bayesian learning (Gaussian processes, Bayesian deep learning) - Probabilistic planning (MDPs, POMPDPs) - Multi-armed bandits and Bayesian optimization - Reinforcement learning | |||||

Voraussetzungen / Besonderes | Solid basic knowledge in statistics, algorithms and programming. The material covered in the course "Introduction to Machine Learning" is considered as a prerequisite. | |||||

263-5902-00L | Computer Vision | W | 8 KP | 3V + 1U + 3A | M. Pollefeys, S. Tang, V. Ferrari | |

Kurzbeschreibung | The goal of this course is to provide students with a good understanding of computer vision and image analysis techniques. The main concepts and techniques will be studied in depth and practical algorithms and approaches will be discussed and explored through the exercises. | |||||

Lernziel | The objectives of this course are: 1. To introduce the fundamental problems of computer vision. 2. To introduce the main concepts and techniques used to solve those. 3. To enable participants to implement solutions for reasonably complex problems. 4. To enable participants to make sense of the computer vision literature. | |||||

Inhalt | Camera models and calibration, invariant features, Multiple-view geometry, Model fitting, Stereo Matching, Segmentation, 2D Shape matching, Shape from Silhouettes, Optical flow, Structure from motion, Tracking, Object recognition, Object category recognition | |||||

Voraussetzungen / Besonderes | It is recommended that students have taken the Visual Computing lecture or a similar course introducing basic image processing concepts before taking this course. | |||||

227-0447-00L | Image Analysis and Computer Vision | W | 6 KP | 3V + 1U | L. Van Gool, E. Konukoglu, F. Yu | |

Kurzbeschreibung | Light and perception. Digital image formation. Image enhancement and feature extraction. Unitary transformations. Color and texture. Image segmentation. Motion extraction and tracking. 3D data extraction. Invariant features. Specific object recognition and object class recognition. Deep learning and Convolutional Neural Networks. | |||||

Lernziel | Overview of the most important concepts of image formation, perception and analysis, and Computer Vision. Gaining own experience through practical computer and programming exercises. | |||||

Inhalt | This course aims at offering a self-contained account of computer vision and its underlying concepts, including the recent use of deep learning. The first part starts with an overview of existing and emerging applications that need computer vision. It shows that the realm of image processing is no longer restricted to the factory floor, but is entering several fields of our daily life. First the interaction of light with matter is considered. The most important hardware components such as cameras and illumination sources are also discussed. The course then turns to image discretization, necessary to process images by computer. The next part describes necessary pre-processing steps, that enhance image quality and/or detect specific features. Linear and non-linear filters are introduced for that purpose. The course will continue by analyzing procedures allowing to extract additional types of basic information from multiple images, with motion and 3D shape as two important examples. Finally, approaches for the recognition of specific objects as well as object classes will be discussed and analyzed. A major part at the end is devoted to deep learning and AI-based approaches to image analysis. Its main focus is on object recognition, but also other examples of image processing using deep neural nets are given. | |||||

Skript | Course material Script, computer demonstrations, exercises and problem solutions | |||||

Voraussetzungen / Besonderes | Prerequisites: Basic concepts of mathematical analysis and linear algebra. The computer exercises are based on Python and Linux. The course language is English. | |||||

151-0563-01L | Dynamic Programming and Optimal Control | W | 4 KP | 2V + 1U | R. D'Andrea | |

Kurzbeschreibung | Introduction to Dynamic Programming and Optimal Control. | |||||

Lernziel | Covers the fundamental concepts of Dynamic Programming & Optimal Control. | |||||

Inhalt | Dynamic Programming Algorithm; Deterministic Systems and Shortest Path Problems; Infinite Horizon Problems, Bellman Equation; Deterministic Continuous-Time Optimal Control. | |||||

Literatur | Dynamic Programming and Optimal Control by Dimitri P. Bertsekas, Vol. I, 3rd edition, 2005, 558 pages, hardcover. | |||||

Voraussetzungen / Besonderes | Requirements: Knowledge of advanced calculus, introductory probability theory, and matrix-vector algebra. | |||||

151-0851-00L | Robot Dynamics | W | 4 KP | 2V + 2U | M. Hutter, R. Siegwart | |

Kurzbeschreibung | We will provide an overview on how to kinematically and dynamically model typical robotic systems such as robot arms, legged robots, rotary wing systems, or fixed wing. | |||||

Lernziel | The primary objective of this course is that the student deepens an applied understanding of how to model the most common robotic systems. The student receives a solid background in kinematics, dynamics, and rotations of multi-body systems. On the basis of state of the art applications, he/she will learn all necessary tools to work in the field of design or control of robotic systems. | |||||

Inhalt | The course consists of three parts: First, we will refresh and deepen the student's knowledge in kinematics, dynamics, and rotations of multi-body systems. In this context, the learning material will build upon the courses for mechanics and dynamics available at ETH, with the particular focus on their application to robotic systems. The goal is to foster the conceptual understanding of similarities and differences among the various types of robots. In the second part, we will apply the learned material to classical robotic arms as well as legged systems and discuss kinematic constraints and interaction forces. In the third part, focus is put on modeling fixed wing aircraft, along with related design and control concepts. In this context, we also touch aerodynamics and flight mechanics to an extent typically required in robotics. The last part finally covers different helicopter types, with a focus on quadrotors and the coaxial configuration which we see today in many UAV applications. Case studies on all main topics provide the link to real applications and to the state of the art in robotics. | |||||

Voraussetzungen / Besonderes | The contents of the following ETH Bachelor lectures or equivalent are assumed to be known: Mechanics and Dynamics, Control, Basics in Fluid Dynamics. | |||||

401-5860-00L | Seminar in Robotics for CSE | W | 4 KP | 2S | R. Siegwart | |

Kurzbeschreibung | This course provides an opportunity to familiarize yourself with the advanced topics of robotics and mechatronics research. The study plan has to be discussed with the lecturer based on your specific interests and/or the relevant seminar series such as the IRIS's Robotics Seminars and BiRONZ lectures, for example. | |||||

Lernziel | The students are familiar with the challenges of the fascinating and interdisciplinary field of Robotics and Mechatronics. They are introduced in the basics of independent non-experimental scientific research and are able to summarize and to present the results efficiently. | |||||

Inhalt | This 4 ECTS course requires each student to discuss a study plan with the lecturer and select minimum 10 relevant scientific publications to read through, or attend 5-10 lectures of the public robotics oriented seminars (e.g. Public robotics seminars such as the IRIS's Robotics Seminars http://www.iris.ethz.ch/iris/series/, and BiRONZ lectures http://www.birl.ethz.ch/bironz/index are good examples). At the end of semester, the results should be presented in an oral presentation and summarized in a report, which takes the discussion of the presentation into account. |

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