CSE 571: Probablistic Robotics

Autumn, 2015

MW 1:30-2:50, EEB 045

Dieter Fox

Office hours: W 3:00-4:00, CSE 586

TA: Arunkumar Byravan

Office hours: M 3:30-4:30, CSE 503

Email and discussion:
Class email list: cse571a_au15 at uw     [archives]

Please send any e-mail about the course to cse571a_au15-instr at cs.

Discussion board (moderated by TA)

Use this board to discuss the content of the course. Feel free to discuss homeworks and projects from past incarnations of the course, and any confusion over topics discussed in class. It is also acceptable to ask for clarifications about the statement of homework problems, but not about their solutions.

There is no required textbook for the class. Many of the lectures and homework assignments will have associated reading material from:

Probabilistic Robotics, S. Thrun, W. Burgard, and D. Fox., MIT Press, Cambridge, MA, September 2005.


Date Topic Slides Reading (textbook/papers) Homework
30-Sep Introduction Intro - -
5-Oct Bayesian state estimation, Filtering Prob Chapters 1, 2 -
7-Oct Motion models, Gaussian Processes Motion, GP Chapters 5 (skip 5.3 & derivations), Chapter 2 (Rasmussen book) HW #1 assigned
12-Oct Observation models Observations Chapter 6 (skip derivations) -
14-Oct Kalman Filters (Introduction, EKF) Kalman Chapters 3 and 7 (skip 3.5 & derivations) -
19-Oct Particle Filters Particle filters Chapters 4 and 8 (skip derivations) HW #2 assigned
21-Oct Particle Filters contd, discrete filters Particle filters Chapters 4 and 8 (skip derivations) -
26-Oct Gaussian Process Bayes Filters GP-BayesFilters, Occupancy mapping GP filtering, GP learning, Chapter 9 -
28-Oct EKF-SLAM SLAM Chapters 10, 11 -
2-Nov TBD - - -
4-Nov RGBD-SLAM (Luis) RGBD - -
9-Nov Fast-SLAM Fast-SLAM - -
11-Nov NO CLASS: Veteran's day - - -
16-Nov Rao-Blackwellized Particle Filters RBPF TransportationRoutines, BallTracking -
18-Nov Mapping with Truncated Signed Distance Functions TSDF KinectFusion, DynamicFusion -
20-Nov Project - Midterm meetings - - -
23-Nov Exploration Exploration Multi-robot -
25-Nov Deterministic Planning Det-Planning Deterministic planning -
30-Nov Sampling-based Planning Samping-Planning RRT paper, Non-Holonomic RRT HW #3 assigned
2-Dec Markov Decision Processes MDPs Book chapter 14
7-Dec (Inverse) Reinforcement Learning RL, IOC
9-Dec Summary Summary
14-Dec Project - Final presentations - - -


Assignments will be submitted via Catalyst dropbox.


Projects will be done in teams of two or three. We encourage any ideas related to robotics or from your own research. More details on the project can be found here.


  • Homeworks (45%)
  • Project (50%)
  • Class participation (5%)

Anonymous Feedback:

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