| Date |
Lecture |
Readings (Respond by Monday at 12pm) |
Homework Released |
Homework Due |
| Tuesday, Jan 20 |
Course Overview: Topics, Goals, Evaluation |
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| Thursday, Jan 22 |
Probability Review and Basic Interaction Model |
Optional reading: Calculus review, Probability review |
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| Tuesday, Jan 27 |
Basic Control I |
Ben Kuipers's Tutorial on Control Theory (first 10 sections), Braitenberg Vehicles |
Control Assignment |
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| Thursday, Jan 29 |
Basic Control II |
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| Tuesday, Feb 3 |
Bayes Filter |
Notes on the Bayes and Kalman filter |
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| Thursday, Feb 5 |
Kalman Filter |
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| Tuesday, Feb 10 |
Extended Kalman Filters |
Notes on the EKF and particle filter |
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Control Assignment |
| Thursday, Feb 12 |
Particle Filters |
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Filtering Assignment |
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| Tuesday, Feb 17 |
Localization |
Introduction to particle methods;
Discussion on particle filters
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| Thursday, Feb 19 |
Mapping |
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| Tuesday, Feb 24 |
SLAM I |
SLAM Tutorial |
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| Thursday, Feb 26 |
SLAM II |
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Filtering Assignment |
| Tuesday, Mar 3 |
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 5 |
Graph SLAM and Outlook |
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| Tuesday, Mar 10 |
Rigid Body Transformations |
Chapter 3 introduction, 3.1, and 3.2 of Intro to Autonomous Robots. |
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| Thursday, Mar 12 |
Forward Kinematics |
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Planning Assignment |
SLAM Assignment |
| Tuesday, Mar 17 |
Inverse Kinematics |
Chapter 13 of Intro to Autonomous Robots |
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| Thursday, Mar 19 |
Motion Planning |
Slides from Pieter Abbeel |
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| Midterm: March 24 in class |
| Thursday, Mar 26 |
Behavior Architectures |
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| Tuesday, Mar 31 |
Spring Break! |
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| Thursday, Apr 2 |
Spring Break! |
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| Tuesday, Apr 7 |
Reinforcement Learning I |
Reinforcement Learning in Robotics: A Survey Section 2 (excluding 2.2), Section 3 |
Final Project |
Planning Assignment |
| Thursday, Apr 9 |
Reinforcement Learning II |
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| Tuesday, Apr 14 |
Human Robot Interaction I |
What is Interaction? (Required)
Interactions with Robots (Optional)
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| Thursday, Apr 16 |
Human Robot Interaction II |
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| Tuesday, Apr 21 |
Imitation Learning |
Google's SayCan Paper |
Final Project |
Planning Assignment |
| Thursday, Apr 23 |
LLMs and Robots |
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| Tuesday, Apr 28 |
Application Case Study |
Why the future doesn't need us |
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| Thursday, Apr 30 |
Societal Impacts |
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Final Project |