| Jan 06 |
Introduction and Course Overview (Recording) |
Knowledge Survey |
Additional ROS Review |
| Jan 08 |
Anatomy of an Autonomous Vehicle |
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Prob. Rob., Ch. 1, Ch. 2 |
| Jan 10 |
Recursive Bayesian Filtering (Recording) |
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Prob. Rob., Ch. 5.2, Ch. 6 (through 6.3) |
| Jan 13 |
Recursive Bayesian Filtering (Recording) |
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Prob. Rob., Ch. 5.2, Ch. 6 (through 6.3) |
| Jan 15 |
Motion and Observation Models (Recording) |
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Prob. Rob., Ch. 4 |
| Jan 17 |
Motion and Observation Models (Recording) |
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Prob. Rob., Ch. 4 |
| Jan 20 |
Martin Luther King Jr. Day (no lecture🎉) |
Project 1 due on Jan 21 |
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| Jan 22 |
Particle Filter (Recording) |
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Prob. Rob., Ch. 4 |
| Jan 24 |
Particle and Kalman Filtering (Recording) |
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A New Approach to Linear Filtering, Prob. Rob., Ch. 3 |
| Jan 27 |
Kalman Filtering and EKF (Recording) |
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The Unscented Kalman Filter |
| Jan 29 |
EKF and SLAM (Recording) |
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The Unscented Kalman Filter |
| Jan 31 |
Paper Readings: State Estimation |
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| Feb 03 |
Introduction to Feedback Control (Recording) |
Project 2 due on Feb 04 |
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| Feb 05 |
PID Control (Recording) |
Project 2 due on Feb 06 |
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| Feb 07 |
PID Control and Pure Pursuit (Recording) |
| Pure Pursuit, DARPA Challenge Controllers |
| Feb 10 |
Pure Pursuit and LQR (Recording) |
| Linear Quadratic Regulator Slides
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| Feb 12 |
LQR and MPC (Recording) |
Post seeded discussion 1 on Ed
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| Feb 14 |
Sampling-based MPC and Lyapunov Stability (Recording) |
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| Feb 17 |
Presidents' Day (no lecture🎉) |
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| Feb 19 |
Paper Readings: Control |
Project 3 due on Feb 20 |
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| Feb 21 |
Introduction to Planning and Heuristic Search (Recording) |
Project 3 due on Feb 23
| A*, Planning Algorithms Ch 1, Ch 4.1-4.3, Ch 6.5, Ch 14.1 |
| Feb 24 |
Graph Construction for Search (Recording) |
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| Feb 26 |
A* search, Lazy Search (Recording) |
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| Feb 28 |
Lazy A* and RRT (Recording) |
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| Mar 03 |
Imitation learning (Recording) |
Post seeded discussion 2 on Ed
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| Mar 05 |
Paper Readings: Planning |
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| Mar 07 |
Guest Lecture 1: Jeannette Bohg (Stanford)
| Project 4
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| Mar 10 |
Model-Free RL (Recording)
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| Mar 12 |
Model-Based RL (Recording)
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| Mar 14 |
Paper Readings: Learning |
Post seeded discussion 3/4 before Mar 18/21
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