Please access Zoom class lectures via Canvas.
Discussion board: https://us.edstem.org/courses/4944/discussion/Use this board to discuss the content of the course. Feel free to discuss homeworks, projects, 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.
Probabilistic Robotics, S. Thrun, W. Burgard, and D. Fox., MIT Press, Cambridge, MA, September 2005.
Date | Topic | Slides | Reading (textbook/papers) | Homework/Project |
---|---|---|---|---|
Mar 30 | Introduction | Intro | Chapter 1, 2 of Probabilistic Robotics | - |
Apr 1 | Bayesian state estimation, Filtering | Prob Intro | Chapter 1, 2 of Probabilistic Robotics | - |
Apr 2 | - | - | - | Homework 1 posted |
Apr 6 | Bayesian state estimation, Neural Networks | Gaussians | Chapter 6, 9 of Deep Learning | - |
Apr 8 | Neural Networks | - | Chapter 6, 9 of Deep Learning | - |
Apr 9 | - | - | - | Project 0.5 posted |
Apr 13 | Motion and Sensor Models | Motion models, sensor models | Chapter 5, 6 of Probabilistic Robotics | - |
Apr 14 | - | - | - |
Lab Session 1-3 pm |
Apr 15 | Sensor Models, Kalman Filters (linear, EKF) | Kalman filters | Chapters 3 and 7 (skip 3.5 and derivations) | - |
Apr 16 | - | - | - |
Project 1 posted |
Apr 19 | - | - | - | Project 0.5 Due |
Apr 20 | Kalman Filters (linear, EKF) | - | Chapters 3 and 7 (skip 3.5 and derivations) |
Homework 1 Due Project 1 posted |
Apr 22 | Particle Filters | Particle filters | Chapters 4 and 8 (skip derivations) | - |
Apr 27 | Particle Filters II | Multi localization, KLD-Sampling | - | - |
Apr 29 | Occupancy maps, SLAM | Occupancy mapping, SLAM | Chapters 9 and 10, Octomaps |
Homework 2 posted Project 2 Proposal Due |
May 4 | SLAM and Graph-SLAM | GTSAM, Chapter 11 and 13 | - | |
May 6 | Fast-SLAM | Fast-SLAM + Pose-RBPF | - | - |
May 7 | - | - | - |
Project 1 Due |
May 11 | Pose-RBPF | - | Pose-RBPF paper |
Homework 2 Due |
May 13 | Exploration | Exploration | Multi-robot, Curiosity-driven learning, Object modeling |
Homework 3 posted Project 2 Mid-progress Report Due |
May 18 | Deterministic Planning | Det planning | Motion planning, A* slides from 473 | - |
May 20 | Sampling-based Planning | Sampling-based planning | Complex motion planning, Anytime and replanning A*, RRT | - |
May 25 | Markov Decision Process | - | Chapter 14 | - |
May 27 | Inverse Reinforcement Learning | - | - |
Homework 3 Due |
Jun 1 | Learning to Grasp | - | GraspNet, clutter | - |
Jun 3 | Recap | - | SE3-Nets, Langrangian Networks | - |
Jun 7 |
Project 2 Presentation, 10:30 am - 12:30 pm |
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Jun 10 |
Project 2 Final Report Due |