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) | - | Chapters 3 and 7 (skip 3.5 and derivations) | - | |
Apr 16 | - | - | - | - |
Project 1 will be 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 Homework 2 will be posted |
- |
Apr 22 | Particle Filters I | - | Chapters 4 and 8 (skip derivations) | - | - |
Apr 27 | Particle Filters II | - | - | - |
Open-ended Project Proposal Due |
Apr 29 | Occupancy maps, SLAM | - | Chapters 9 and 10, Octomaps | - | - |
May 4 | Graph-SLAM and Fast-SLAM | - | GTSAM, Chapter 11 and 13 | - | - |
May 6 | Fast-SLAM, Exploration | - | Multi-robot, Curiosity-driven learning, Object modeling |
Homework 3 will be posted Homework 2 Due |
- |
May 11 | Deterministic planning | - | Motion planning, A* slides from 473 | - |
Open-ended Project Mid-progress Report Due |
May 13 | Sampling based planning w/ RRTs | - | Complex motion planning, Anytime and replanning A*, RRT | - |
Project 2 will be posted |
May 18 | RRTs, Markov Decision Processes | - | Book chapter 14 | - | - |
May 25 | MDPs, Inverse Reinforcement Learning | - | - | - | - |
May 27 | Task and motion planning | - | - | - |
Project 2 Final Report Due |
Jun 1 | Learning to grasp | - | GraspNet, clutter | - | - |
Jun 3 | Summary | - | SE3-Nets, Langrangian Networks | - | - |
Jun 8 |
Open-ended Project Presentation |
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Jun 10 |
Open-ended Project Final Report Due |