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Robotics and Animation Final Review

Review of Big oh complexity of pseudoinverse, computing Jacobian, and analytical and finite differences methods. Also includes logistics, test-taking materials, major topics like controllers and optimization, and discussion of assignments.

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Robotics and Animation Final Review

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  1. AnimationCS 551 / 651 Final Review

  2. Homework review • Big oh complexity of pseudoinverse • Compute Jacobian • Analytically… O(n) • Finite Differences… O(n2) n - Foreach joint 1 - perturb joint n - compute new end effector pos by multiplying down kinematic chain

  3. Homework review • Big oh complexity of pseudoinverse • Compute Jacobian • Analytically… O(n) • Finite Differences… O(n) n - Foreach joint 1 - perturb joint 1 - compute new end effector pos by substituting in precomputed matrix

  4. Homework review • Computing pseudoinverse • J = 3 x n • J+ = (JT J)-1 JT = O (n2) • J+ = JT (JJT)-1 = O (1) • Matrix mult: [n x m] [ m x o] = O (n*m*o) • Matrix invert: [n x n] = O (n3)  O (n2 log n)

  5. Assignments 3 and 4 • Discussion • Grading • Thursday 12:00 – 2:30 • Friday 2:00 – 4:00

  6. Logistics • Exam will be released Monday at 7:00 p.m. • Electronically available (not sure how yet so check your email) • Programming may be required • Exam must be returned by following Monday at 9:00 a.m. • You have 24 contiguous hours to work on the exam

  7. Test-taking materials • You can use any materials except your classmates during the exam • Be mindful that others may be taking the exam later than you and you shouldn’t be overheard talking about your answers

  8. Content • Everything during the semester • The class web page is very complete • Emails I’ve sent to the class • Through the lens • Q & A about specific papers • Programming Assignments

  9. General nature of exam • Open-ended questions are impossible to grade because there is no one right answer and allocating partial credit is difficult • How would you implement this… • Why is technique A better than technique B • Questions will be more focused on details • Explain what effect a has in paper Foo • What technical element sets papers Foo and Bar apart? Why is that important?

  10. Major topics • Physical Simulation • Hecker articles (Assignment 1) • Numerical integration • Sources of error (class lectures) • Speedup (Mirtich, Chenney-99, Popovic)

  11. Major topics • Controllers • Optimal (Chenney-00, Gleicher-92, Witkin, Grzeszczuk, Popovic,) • Learning reactive controllers • Offline trial and error (Stone, Sims) • User-guided (Metoyer) • Design methodologies (Blumberg) • Multiagent (Reynolds, Helbing) • Assignments 3-4

  12. Major topics • Data-driven Animation • Markov chain (Schodl, Kovar, Lee) • Reusing (Gleicher-98, Metoyer) • Generalizing (Grzeszczuk) • Clean-up (O’Brien)

  13. Major topics • Inverse Kinematics • Class lectures (Brogan and O’Brien) • Handouts (Parent and Numerical Recipes) • Assignment 2

  14. Major Topics • Optimization • Spacetime constraints (Gleicher-92, Witkin, Popovic, Gleicher-98) • Neural Networks (Grzeszczuk, Chenney-99) • Markov Chain Monte Carlo (Chenney-00) • Least squares (O’Brien) • Lagrangian (Gleicher-92) • Genetic algorithms (Kass)

  15. Major topics • Optimization (cont.) • Dynamic Programming (Schodl) • Strongly Connected Components (Kovar, Lee) • Bayesian Classification (Metoyer) • A* (Pinter) • Reinforcement Learning (Stone)

  16. Major topics • Perception • Human motion (Hodgins) • Using head-mounted displays (Banton, Thompson)

  17. Major Topics • Biomechanics • Swinging (Walker) • Bicycling (Jones) • Walking (articles from Nature)

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