Schedule#
Note: Here is the plan for the semester. The schedule is tentative and subject to change.
You can find homework solutions on Canvas.
| Date | Lecture | Resources | Notes |
|---|---|---|---|
| Thu, 9/3 | 1: Course Overview and ‘What is a Robot’ | N/A | |
| Tue, 9/8 | 2: Mechanisms and Configuration Spaces | MR 2.1-2.3, 2.5 | |
| Thu, 9/10 | 3: Rigid Body Motion - 2D and Rotation Matrices | MR 3.1-3.2 | HW1 Released |
| Tue, 9/15 | 4: Rigid Body Motion (3D) - Euler Angles and Axis-Angle | MR 3.2 & A.B, AR 2.4.4 B | |
| Thu, 9/17 | 5: Rigid Body Motions (3D) - Quaternions | MR A.B., AR 2.4.4 B | |
| Tue, 9/22 | 6: Rigid Body Motion (3D) - Transformations | MR 3.3 | |
| Thu, 9/24 | 7: Forward Kinematics and URDFs | MR 4, 4.2 | |
| Tue, 9/29 | 8: Forward Kinematics and DH Parameters | MR A.C | HW1 Due (5pm) |
| Thu, 10/1 | 9: Forward Kinematics and Differential Kinematics | MR 5.0, AR 3.3, Spong Robot Modeling and Control Ch 4 | |
| Tue, 10/6 | 10: Inverse Kinematics | MR 6, 6.2, AR 3.4 | HW2 Released |
| Thu, 10/8 | 11: Intro to Planning and Graph-based Methods | MR 10.2 | |
| Tue, 10/13 | 12: Sample-based Planning Methods (and Exam 1 Discussion) | MR 10.5 | Exam 1 Instructions & Practice |
| Thu, 10/15 | Midterm Exam 1 | ||
| Tue, 10/20 | 13: Trajectory Generation and Trajectory Optimization | MR 9.1-9.3 | HW2 Due (5pm), HW3 Released |
| Thu, 10/22 | 14: Trajectory Optimization | Matthew Kelley’s Trajectory Optimization Tutorials, TrajOpt Exercise | |
| Tue, 10/27 | 15: Hierarchy and FSMs (and Project Introduction) | AR 11.2-11.4 | Final Project Released |
| Thu, 10/29 | 16: Perception | AR 7.1, 8 | |
| Tue, 11/3 | 17: Uncertainty and State Estimation Fundamentals | PR 2.2-2.3 | HW3 Due (5pm) |
| Thu, 11/5 | 18: Bayes Filters | PR 2.4 | Project Proposal Due (5pm) |
| Tue, 11/10 | 19: Kalman Filters | PR 3.2-3.3 | |
| Thu, 11/12 | 20: Particle Filters (and Exam 2 Discussion) | PR 4.2, 10.1, PF code | Exam 2 Practice |
| Tue, 11/17 | Midterm Exam 2 | ||
| Thu, 11/19 | 21: Feedback Control Introduction | MR 11.1-11.2 | HW4 Released |
| Tue, 11/24 | 22: PID Control | MR 11.2, Controls Code | |
| Thu, 11/26 | No Class. Happy Thanksgiving! | ||
| Tue, 12/1 | 23: Modern Techniques – Diffusion and VLA Models | SayCan, Diffusion Policy, OpenVLA | |
| Thu, 12/3 | 24: Guest Roboticist: TBD | HW4 Due (5pm) | |
| Tue, 12/8 | 25: Final Project Presentations | ||
| Tue, 12/15 | Final Project Due |