IN2107 Variational Inference in Robotics
Lehrveranstaltung 0000001967 im SS 2023
Basisdaten
LV-Art | Seminar |
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Umfang | 2 SWS |
betreuende Organisation | Lehrstuhl für Robotik und Systemintelligenz (Prof. Haddadin, Joint Appointment der Fakultät für Elektrotechnik und Informationstechnik und Fakultät für Informatik) |
Dozent(inn)en |
Furkan Erdem Abdalla Swikir Patrick van der Smagt |
Termine |
weitere Informationen
Lehrveranstaltungen sind neben Prüfungen Bausteine von Modulen. Beachten Sie daher, dass Sie Informationen zu den Lehrinhalten und insbesondere zu Prüfungs- und Studienleistungen in der Regel nur auf Modulebene erhalten können (siehe Abschnitt "Zuordnung zu Modulen" oben).
ergänzende Hinweise | The seminar focuses on variational inference methods that are applicable to robotic perception and control problems. In recent years, applying machine learning to sequential data of systems has developed as a promising path to the application of control methods to very complex systems, such as robotic systems perceived through noisy sensors. One promising direction is that of variational inference, where high-dimensional and hence intractable problems of Bayesian inference can be approximated through stochastic optimization techniques. Here, the member of a family of distributions closest to the true posterior distribution is determined. This approximate distribution can then be used in place of the true one, yielding solutions to learning, inference or control problems such as system identification, state estimation, manipulation, localization or navigation. In this course, students will familiarize themselves with the methodology of variational inference in a deep learning framework. For that, fundamental knowledge such as machine learning, control, and robotics will be refreshed. Typical problems of robotics will be phrased as probabilistic inference and solutions based on recent developments will be studied and discussed. Examples are Dreamer, Learning To Fly and variational inference-based SLAM: - https://danijar.com/project/dreamer/ - https://argmax.ai/blog/drone/ - https://argmax.ai/blog/vislam/ |
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Links |
E-Learning-Kurs (z. B. Moodle) TUMonline-Eintrag |
Gleiche Lehrveranstaltungen (z. B. in anderen Semestern)
Semester | Titel | Dozent(en) | Termine |
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WS 2022/3 | IN2107 Variational Inference in Robotics | Swikir, A. van der Smagt, P. | |
SS 2022 | Variational Inference in Robotics | Swikir, A. van der Smagt, P. | |
WS 2021/2 | Variational Inference in Robotics | Swikir, A. van der Smagt, P. |