This schedule is tentative and subject to change.
| DATE | TOPIC | READINGS | DUE |
|---|---|---|---|
| January 4 | Introduction and Course Overview | ||
| January 6 | State Estimation, Bayesian Filtering | Prob. Rob., Ch. 1, Ch. 2 | Knowledge Survey |
| January 9 | Markov Localization | Prob. Rob., Ch. 5.2, Ch. 6 (through 6.3) | |
| January 11 | Monte Carlo Sampling, Importance Sampling | Prob. Rob., Ch. 4 | |
| January 13 | Discussion: Uber Accident Report (National Transportation Safety Board) | Reading | |
| January 16 | Holiday: Martin Luther King Jr. Day | ||
| January 18 | Particle Filtering | Prob. Rob., Ch. 4 | |
| January 20 | The Kalman Filter | A New Approach to Linear Filtering, Prob. Rob., Ch. 3 | Project 1: Introduction |
| January 23 | The Unscented Kalman Filter | The Unscented Kalman Filter | |
| January 25 | Introduction to Feedback Control | Underactuated Robotics Ch. 1 | |
| January 27 | Discussion: Do Artifacts Have Politics? (Langdon Winner) | Reading | |
| January 30 | PID Control, Pure Pursuit | Pure Pursuit, DARPA Challenge Controllers | |
| February 1 | Model Predictive Control | ||
| February 3 | Discussion: Moral Crumple Zones: Cautionary Tales in Human-Robot Interaction (Madeleine Clare Elish) | Reading | Project 2: Localization |
| February 6 | Linear Quadratic Regulator | Underactuated Robotics Ch. 8, Notes on LQR by P. Abbeel | |
| February 8 | Introduction to Planning | Planning Algorithms Ch 1, Ch 4.1-4.3, Ch 6.5, Ch 14.1 | |
| February 10 | Discussion: Robot Rights? Let’s Talk about Human Welfare Instead (Abeba Birhane) | Reading | |
| February 13 | Heuristic Search | A* | |
| February 15 | Sampling-based Motion Planning | ||
| February 17 | Discussion: Anatomy of an AI System (Kate Crawford, Vladan Joler) | Reading | Project 3: Control |
| February 20 | Holiday: Presidents' Day | ||
| February 22 | Lazy Search, Planning for Vehicles | ||
| February 24 | MDPs 1 | ||
| February 27 | MDPs 2 | ||
| March 1 | Reinforcement Learning 1 | ||
| March 3 | Discussion: Fairness and Abstraction in Sociotechnical Systems (Andrew D. Selbst et al.) | Reading | Project 4: Planning |
| March 6 | Reinforcement Learning 2 | ||
| March 8 | Conclusion | ||
| March 10 | Discussion: Design Justice and Imagining and Tinkering with Assistive Robotics | Reading 1 Reading 2 | |
| March 13 | Final Project Demos (2:30 pm - 4:20 pm) | Final Project |