Meeting Notes 07.03.2022

Meeting Details

Date : 7-8 March 2021

Time : 13:00 – 13:30

Location : Chair of CPS, Montanuniverität Leoben

Participants: Univ.-Prof. Dr. Elmar Rueckert, Fotios Lygerakis

Agenda

1. Initial talk about PhD plans
2. PhD Title
3. Administrative/Logistic Matters

Topic 1: Initial talk about PhD plans

1.  Visual Representations for RL
   1. Contrastive Learning
   2. Variational Autoencoders
   3. sparse identification of nonlinear dynamics (SINDy)
2.  Keywords
   1. Generalization
   2. Adaptation (Noise, Error)
   3. Scalability
   4. Online Learning
   5. curriculum/meta learning
3.  Configurable latent space / low-dimensinal shared structure of task/state spaces

Topic 2: PhD Title

Deep Representations and Transfer Learning for Sample Efficient Robot Learning

Topic 3: Administrative/Logistics

• purchases
  • GPU Laptop
  • gpu for my workstation
  • 2 realsense d453 cameras
• summer school at kleinwalsertal
• gpu clusters
• demo @ end May

Next Steps

1. Start implementing  [1]
2. Merge Contrastive Learning in Autoencoders
3. Explore the use of  SINDy(Sparse identification of nonlinear dynamics)[2]
4. Market Research
   1. GPU Laptop
   2. cameras

Literature

[1] Albert Zhan, Philip Zhao, Lerrel Pinto, Pieter Abbeel, Michael Laskin: A Framework for Efficient Robotic Manipulation. CoRR abs/2012.07975 (2020)

[2] Champion, K., Lusch, B., Kutz, J. N., & Steven L. Brunton. (2019). Data-driven discovery of coordinates and governing equations. Proceedings of the National Academy of Sciences, 116(45), 22445–22451. https://doi.org/10.1073/pnas.1906995116 

Next Meeting

TBA