| Date |
Lecture |
Readings (Respond by Monday at 12pm) |
Homework Released |
Homework Due |
| Tuesday, Jan 21 |
Course Overview: Topics, Goals, Evaluation |
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| Thursday, Jan 23 |
Probability Review and Basic Interaction Model |
Optional reading: Calculus review, Probability review |
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| Tuesday, Jan 28 |
Basic Control I |
Ben Kuipers's Tutorial on Control Theory (first 10 sections), Braitenberg Vehicles |
Control Assignment |
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| Thursday, Jan 30 |
Basic Control II |
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| Tuesday, Feb 4 |
Bayes Filter I |
Notes on the Bayes Filter |
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| Thursday, Feb 6 |
Bayes Filter II |
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| Tuesday, Feb 11 |
Kalman Filters |
Notes on the Kalman Filter and EKF |
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Control Assignment |
| Thursday, Feb 13 |
Extended Kalman Filters |
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Filtering Assignment |
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| Tuesday, Feb 18 |
Particle Filters |
Introduction to particle methods;
Discussion on particle filters
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| Thursday, Feb 20 |
Localization |
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| Tuesday, Feb 25 |
Mapping |
SLAM Tutorial |
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| Thursday, Feb 27 |
SLAM Introduction |
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Filtering Assignment |
| Tuesday, Mar 4 |
Advanced SLAM I |
SLAM Survey [Sections I,III,IV,VIII,IX,X; Can skim "Brief Survey" paragraphs.] |
SLAM Assignment |
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| Thursday, Mar 6 |
Graph SLAM and Outlook |
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| Tuesday, Mar 11 |
Forward Kinematics |
Chapter 3 introduction, 3.1, and 3.2 of Intro to Autonomous Robots. |
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| Thursday, Mar 13 |
Inverse Kinematics |
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Planning Assignment |
SLAM Assignment |
| Tuesday, Mar 18 |
Graph-based Planning |
Chapter 13 of Intro to Autonomous Robots |
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| Midterm: March 18 from 5:45 - 7:15PM, CS Building 1221 |
| Thursday, Mar 20 |
Motion Planning |
Slides from Pieter Abbeel |
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| Tuesday, Mar 25 |
Spring Break! |
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| Thursday, Mar 27 |
Spring Break! |
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| Tuesday, Apr 1 |
Reinforcement Learning I |
Reinforcement Learning in Robotics: A Survey Section 2 (excluding 2.2), Section 3 |
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| Thursday, Apr 3 |
Reinforcement Learning II |
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| Tuesday, Apr 8 |
Imitation Learning |
Google's SayCan Paper |
Final Project |
Planning Assignment |
| Thursday, Apr 10 |
LLMs and Robots |
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| Tuesday, Apr 15 |
Human Robot Interaction I |
What is Interaction? (Required)
Interactions with Robots (Optional)
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| Thursday, Apr 17 |
Human Robot Interaction II |
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| Tuesday, Apr 22 |
Applications I |
Autonomous Driving Survey |
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| Thursday, Apr 24 |
Applications II |
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| Tuesday, Apr 29 |
Societal Impacts I |
Why the future doesn't need us |
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| Thursday, May 1 |
Societal Impacts II |
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Final Project |