https://wisc-rt2.github.io/cs580_fall26/Recent content on CS580 Intelligent RoboticsHugoen-ushttps://wisc-rt2.github.io/cs580_fall26/docs/syllabus/Mon, 01 Jan 0001 00:00:00 +0000https://wisc-rt2.github.io/cs580_fall26/docs/syllabus/<h1 id="syllabus">Syllabus<a class="anchor" href="#syllabus">#</a></h1> <!-- To get the embedded link below, do file -> share -> publish to web in google docs and copy the embed link--> <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto; border: 2px solid #8E1E24; border-radius: 8px;"> <iframe src="https://docs.google.com/document/d/e/2PACX-1vTqrxCtZsgx9ssIH4wyRDV1qkAGiieH0FiJHF42C5OFpnx9S_ENzmy7TZvnj_sRLw/pub?embedded=true" style="position: absolute; top: 0; left: 0; width: 100%; height: 100%; border: none; border-radius: 8px;" frameborder="0"></iframe> </div> <br> <a href="https://docs.google.com/document/d/1GfrWGcRDyAO9-OF4VAyolkQZ3xKUPr7U/edit?usp=sharing&ouid=117057397798946903044&rtpof=true&sd=true">Link to syllabus.</a>https://wisc-rt2.github.io/cs580_fall26/docs/schedule/Mon, 01 Jan 0001 00:00:00 +0000https://wisc-rt2.github.io/cs580_fall26/docs/schedule/<h1 id="schedule">Schedule<a class="anchor" href="#schedule">#</a></h1> <p><em>Note: Here is the plan for the semester. The schedule is tentative and subject to change.</em></p> <p>You can find homework solutions on Canvas.</p> <table> <thead> <tr> <th>Date</th> <th>Lecture</th> <th>Resources</th> <th>Notes</th> </tr> </thead> <tbody> <tr> <td>Thu, 9/3</td> <td><a href="https://drive.google.com/file/d/1ylUhjVuJGFa7gfKJ67jSMXGoMV3jkkYl/view?usp=sharing">1: Course Overview and ‘What is a Robot’</a></td> <td>N/A</td> <td></td> </tr> <tr> <td>Tue, 9/8</td> <td>2: Mechanisms and Configuration Spaces</td> <td>MR 2.1-2.3, 2.5</td> <td></td> </tr> <tr> <td>Thu, 9/10</td> <td>3: Rigid Body Motion - 2D and Rotation Matrices</td> <td>MR 3.1-3.2</td> <td>HW1 Released</td> </tr> <tr> <td>Tue, 9/15</td> <td>4: Rigid Body Motion (3D) - Euler Angles and Axis-Angle</td> <td>MR 3.2 &amp; A.B, AR 2.4.4 B</td> <td></td> </tr> <tr> <td>Thu, 9/17</td> <td>5: Rigid Body Motions (3D) - Quaternions</td> <td>MR A.B., AR 2.4.4 B</td> <td></td> </tr> <tr> <td>Tue, 9/22</td> <td>6: Rigid Body Motion (3D) - Transformations</td> <td>MR 3.3</td> <td></td> </tr> <tr> <td>Thu, 9/24</td> <td>7: Forward Kinematics and URDFs</td> <td>MR 4, 4.2</td> <td></td> </tr> <tr> <td>Tue, 9/29</td> <td>8: Forward Kinematics and DH Parameters</td> <td>MR A.C</td> <td>HW1 Due (5pm)</td> </tr> <tr> <td>Thu, 10/1</td> <td>9: Forward Kinematics and Differential Kinematics</td> <td>MR 5.0, AR 3.3, Spong Robot Modeling and Control Ch 4</td> <td></td> </tr> <tr> <td>Tue, 10/6</td> <td>10: Inverse Kinematics</td> <td>MR 6, 6.2, AR 3.4</td> <td>HW2 Released</td> </tr> <tr> <td>Thu, 10/8</td> <td>11: Intro to Planning and Graph-based Methods</td> <td>MR 10.2</td> <td></td> </tr> <tr> <td>Tue, 10/13</td> <td>12: Sample-based Planning Methods (and Exam 1 Discussion)</td> <td>MR 10.5</td> <td>Exam 1 Instructions &amp; Practice</td> </tr> <tr> <td>Thu, 10/15</td> <td>Midterm Exam 1</td> <td></td> <td></td> </tr> <tr> <td>Tue, 10/20</td> <td>13: Trajectory Generation and Trajectory Optimization</td> <td>MR 9.1-9.3</td> <td>HW2 Due (5pm), HW3 Released</td> </tr> <tr> <td>Thu, 10/22</td> <td>14: Trajectory Optimization</td> <td><a href="https://www.matthewpeterkelly.com/tutorials/trajectoryOptimization/index.html">Matthew Kelley&rsquo;s Trajectory Optimization Tutorials</a>, <a href="https://drive.google.com/file/d/1wRc27Q2Guf7VUTQ79IuMvezCYc3afJVB/view?usp=sharing">TrajOpt Exercise</a></td> <td></td> </tr> <tr> <td>Tue, 10/27</td> <td>15: Hierarchy and FSMs (and Project Introduction)</td> <td>AR 11.2-11.4</td> <td>Final Project Released</td> </tr> <tr> <td>Thu, 10/29</td> <td>16: Perception</td> <td>AR 7.1, 8</td> <td></td> </tr> <tr> <td>Tue, 11/3</td> <td>17: Uncertainty and State Estimation Fundamentals</td> <td>PR 2.2-2.3</td> <td>HW3 Due (5pm)</td> </tr> <tr> <td>Thu, 11/5</td> <td>18: Bayes Filters</td> <td>PR 2.4</td> <td>Project Proposal Due (5pm)</td> </tr> <tr> <td>Tue, 11/10</td> <td>19: Kalman Filters</td> <td>PR 3.2-3.3</td> <td></td> </tr> <tr> <td>Thu, 11/12</td> <td>20: Particle Filters (and Exam 2 Discussion)</td> <td>PR 4.2, 10.1, <a href="https://drive.google.com/file/d/11hIzXgTiYVdNObwcw5_FQZ3_lUWBFyAo/view?usp=sharing">PF code</a></td> <td>Exam 2 Practice</td> </tr> <tr> <td>Tue, 11/17</td> <td>Midterm Exam 2</td> <td></td> <td></td> </tr> <tr> <td>Thu, 11/19</td> <td>21: Feedback Control Introduction</td> <td>MR 11.1-11.2</td> <td>HW4 Released</td> </tr> <tr> <td>Tue, 11/24</td> <td>22: PID Control</td> <td>MR 11.2, <a href="https://drive.google.com/file/d/1eqWvp7tTL_BjVCyGoygnwavRopkIUTwC/view?usp=sharing">Controls Code</a></td> <td></td> </tr> <tr> <td>Thu, 11/26</td> <td>No Class. Happy Thanksgiving!</td> <td></td> <td></td> </tr> <tr> <td>Tue, 12/1</td> <td>23: Modern Techniques – Diffusion and VLA Models</td> <td><a href="https://say-can.github.io/">SayCan</a>, <a href="https://diffusion-policy.cs.columbia.edu/">Diffusion Policy</a>, <a href="https://openvla.github.io/">OpenVLA</a></td> <td></td> </tr> <tr> <td>Thu, 12/3</td> <td>24: Guest Roboticist: TBD</td> <td></td> <td>HW4 Due (5pm)</td> </tr> <tr> <td>Tue, 12/8</td> <td>25: Final Project Presentations</td> <td></td> <td></td> </tr> <tr> <td>Tue, 12/15</td> <td>Final Project Due</td> <td></td> <td></td> </tr> </tbody> </table>