| Overview | Schedule | Assignments | Syllabus |
| Date | Topics | Lecture Notes |
Assignments |
| Thur. 01/29 | Course overview, defining characteristics of a robot [Recording] |
Course Policy
01. Introduction of Robotics |
Prereq Assignment Assigned |
| Tues. 02/03 | History and challenges in robotics, discussion of ROS1 vs ROS2 [Recording Part 1], [Part 2] | Notes on ROS1 vs ROS2 | |
| Thur. 02/05 | Software systems for AI robots [Recording] |
02. Robotic Software Systems
(Optional) ROS2 Programming |
Project 1 Assigned |
| Tues. 02/10 | ROS programming in Python [Recording] | ||
| Thur. 02/12 | Overview of robot sensing and actuation systems [Recording] | 03. Overview of Robotic Hardware Systems | |
| Tues. 02/17 | Robot learning from demonstration [Recording] | 04. Robot Learning from Demonstration (LfD) | |
| Thur. 02/19 | *No lecture, Monday class schedule will be followed* | ||
| Tues. 02/24 | Overview of decision making and planning [Recording] | 05. Robot Reinforcement Learning | Project 2 Assigned |
| Thur. 02/26 | Markov decision process, Q-learning, Project 2 discussion (starting at 58:45) [Recording] | ||
| Tues. 03/03 | Q-learning (cont.), SARSA, challenges of RL for robotics [Recording] | ||
| Thur. 03/05 | Project 2 discussion [Recording] | Project 2 Deliverable 2 Discussion | |
| Tues. 03/10 | Biological inspiration for robot learning from demonstration, algorithmic implementation of robot learning from demonstration [Recording] | ||
| Thur. 03/12 | Overview of robot localization, Bayesian state estimation [Recording] | 06. Particle Filter | |
| Tues. 03/17 | *Spring recess, no lecture* | ||
| Thur. 03/19 | *Spring recess, no lecture* | ||
| Tues. 03/24 | Markov localization [Recording] |
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| Thur. 03/26 | Motion model [Recording] |
Project 3 Assigned
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| Tues. 03/31 | Sensor model [Recording] | ||
| Thur. 04/02 | Particle filter for robot localization | ||
| Tues. 04/07 | Kalman Filter (KF) | 07. Kalman Filter | |
| Thur. 04/09 | Extended Kalman Filter (EKF) | ||
| Tues. 04/14 | Simultaneous localization and mapping (SLAM) overview, EKF-SLAM | 08. SLAM | |
| Thur. 04/16 | Velocity-based motion model, estimation in EKF for SLAM, discussion of final project | Final Group Project Assigned | |
| Tues. 04/21 | Correction in EKF for SLAM, pose-graph SLAM | ||
| Thur. 04/23 | Loop closing, planning with grid occupancy maps | ||
| Tues. 04/28 | In-class lab session to set up physical robots, led by TA Shauna Choi | ||
| Thur. 04/30 | Feedback sessions for Project 2 (Wall Following) and Project 3 (Robot Localization), led by TA Shauna Choi, along with robotics lab tours | ||
| Tues. 05/05 | Final project presentations | ||
| Thur. 05/07 | Final project presentations, course summary | 09. Course Summary |