國立臺灣科技大學・115 學年度第 1 學期
課程大綱
Week 1: Course Introduction & Logistics: smart manufacturing to Embodied AI; HW0 release. Week 2: Embodied AI Ecosystem: simulators, datasets, benchmarks; project scoping; HW0 demo. Week 3: Robot Learning Fundamentals: MDPs, imitation learning, RL, generative policies; Paper 1 topic. Week 4: Teachers' Day (no class): Paper 1 reading & reproduction. Week 5: Vision-Language Navigation (VLN) I: tasks & benchmarks, cross-modal grounding, map-based agents; Paper 1 report & talk; Paper 2 topic. Week 6: VLN II: LLM/VLM-driven & zero-shot navigation; factory/warehouse mobile robots. Week 7: Vision-Language-Action (VLA) Models I: generalist policies (RT-2, OpenVLA, pi0, SmolVLA), action tokenization; Paper 2 report. Week 8: Retrocession Day holiday (no class): midterm code confirmation; paper reading. Week 9: Midterm Project Presentations & Demo (I) Week 10: Midterm Project Presentations & Demo (II); Paper 3 topic. Week 11: VLA Models II: efficient & RL fine-tuning, real-time inference, edge deployment. Week 12: World Models & Data Engines: video/world models, synthetic data; Paper 3 report & talk; Paper 4 topic. Week 13: Embodied Reasoning & Test-Time Scaling: embodied CoT, planner + VLA executor, task planning. Week 14: Sim-to-Real & Embodied AI in Manufacturing: cross-embodiment, humanoids, safety; paper-writing clinic; Paper 4 report. Week 15: Final Project Presentations & Demo (I) Week 16: Final Project Presentations & Demo (II)