| Thu, 9/4 | 1: Course Overview and ‘What is a Robot’ | N/A | |
| Tue, 9/9 | 2: Mechanisms and Configuration Spaces | MR 2.1-2.3, 2.5 | |
| Thu, 9/11 | 3: Rigid Body Motion - 2D and Rotation Matrices | MR 3.1-3.2 | HW1 Released |
| Tue, 9/16 | 4: Rigid Body Motion (3D) - Euler Angles and Axis-Angle | MR 3.2 & A.B, AR 2.4.4 B | |
| Thu, 9/18 | 5: Quaternions and Rigid Body Motion (3D) - Transformations | MR A.B., AR 2.4.4 B, MR 3.3 | |
| Tue, 9/23 | 6: More Examples and Rigid Body Motion | MR A.B., AR 2.4.4 B, MR 3.3 | |
| Thu, 9/25 | 7: Forward Kinematics and URDFs | MR 4, 4.2 | |
| Tue, 9/30 | 8: Forward Kinematics and DH Parameters | MR A.C | HW1 Due (5pm) |
| Thu, 10/2 | 9: Forward Kinematics and Differential Kinematics | MR 5.0, AR 3.3, Spong Robot Modeling and Control Ch 4 | |
| Tue, 10/7 | 10: Inverse Kinematics | MR 6, 6.2, AR 3.4 | HW2 Released |
| Thu, 10/9 | 11: Intro to Planning and Graph-based Methods | MR 10.2 | |
| Tue, 10/14 | 12: Sample-based Planning Methods | MR 10.5 | |
| Thu, 10/16 | 13: Trajectory Generation and Trajectory Optimization | MR 9.1-9.3 | |
| Tue, 10/21 | 14: Trajectory Optimization | Matthew Kelley’s Trajectory Optimization Tutorials, TrajOpt Exercise | HW2 Due (5pm), HW3 Released |
| Thu, 10/23 | 15: Hierarchy and FSMs (and Project Introduction) | AR 11.2-11.4 | Final Project Released |
| Tue, 10/28 | 16: Perception | AR 7.1, 8 | |
| Thu, 10/30 | 17: Uncertainty and State Estimation Fundamentals | PR 2.2-2.3 | |
| Tue, 11/4 | 18: Bayes Filters | PR 2.4 | HW3 Due (5pm) |
| Thu, 11/6 | 19: Kalman Filters (and Midterm Discussion) | PR 3.2-3.3 | Project Proposal Due (5pm), Midterm Instructions & Practice |
| Tue, 11/11 | 20: Particle Filters | PR 4.2, 10.1 PF code | |
| Thu, 11/13 | Midterm Exam | | |
| Tue, 11/18 | 21: Feedback Control Introduction | MR 11.1-11.2 | HW4 Released |
| Thu, 11/20 | 22: PID Control | MR 11.2 Controls Code | |
| Tue, 11/25 | 23: Modern Techniques – Diffusion and VLA Models | SayCan, Diffusion Policy, OpenVLA | |
| Thu, 11/27 | No Class. Happy Thanksgiving! | | |
| Tue, 12/2 | 24: Foundation Models - Discussion | Flipped Class – watch this prior to class. Short Canvas submission after watching! | |
| Thu, 12/4 | 25: Guest Roboticist: Jason Ma | | HW4 Due (5pm) |
| Tue, 12/9 | 26: Final Project Presentations | | |
| Thu, 12/16 | Final Project Due | | |