University of California at Berkeley
Dept of Electrical Engineering & Computer Sciences

CS 287: Advanced Robotics, Fall 2012

Fall 2011 offering (reasonably similar to current year's offering)
Fall 2009 offering (not particularly closely matched to current year's offering)

Instructor: Pieter Abbeel
Lectures: Tuesdays and Thursdays, 3:30pm-5:00pm, 310 Soda Hall
Office Hours: Wednesdays 4:00-5:00pm (and by email arrangement) in 746 Sutardja Dai Hall
Communication: Piazza is intended for general questions about the course, clarifications about assignments, student questions to each other, discussions about material, and so on. I strongly encourage all students to participate in discussion, ask, and answer questions through this site. I will monitor discussions closely. To sign up, go to the Piazza website and sign up with "UC Berkeley" and "CS287" for your school and class.




Class Goals


Assignment policy

Syllabus and materials

All slides are made available here as the semester progresses.
In the Fall 2011 edition A couple of students have volunteered to record and post lecture videos. They posted them here. They might be of interest this year, too.
If your probability is rusty, you might want to handpick some homework/section exercises from past CS188 offerings, located here and similar url's replacing sp12 with fa11, sp11, fa10, sp10, fa09, etc.
Tentative schedule (edits in progress):
Lecture Topic Readings Optional/Additional Readings
Th Aug 23 Course Introduction
Tu Aug 28 MDP's, Exact Methods: Value Iteration, Policy Iteration, Linear Programming, LP notes Sutton and Barto, Reinforcement Learning, Chapters 3 and 4
Th Aug 30 Discretization of Continuous State Space MDPs, Function Approximation / Feature-based Representations Moore and Atkeson, 1993, Munos and Moore, MLJ 2001, Chow and Tsitsiklis, 1991, Gordon, 1995, Tsitsiklis and Van Roy, 1996, Kushner and Dupuis, 1992/2001,
Tu Sep 4 LQR, iterative LQR / Differential Dynamic Programming
Th Sep 6 No Lecture
Tu Sep 11 Unconstrained Nonlinear Optimization, Constrained Nonlinear Optimization, Convex Optimization Problems Boyd and Vandenberghe, Chapters 9-11
Th Sep 13 No Lecture
Tu Sep 18 Unconstrained Nonlinear Optimization, Constrained Nonlinear Optimization, Convex Optimization Problems (Same set of slides as for previous lecture.) cvx_example.m Boyd and Vandenberghe, Chapters 9 -11
Th Sep 20 Locally Optimal Control through Nonlinear Optimization: Shooting Methods, Collocation Methods, Model Predictive Control (MPC) code examples
Tu Sep 25 Autononomous Driving
Th Sep 27 Motion Planning: PRM, RRT + variants Steven M. Lavalle, Motion Planning, Chapters 5, 14, RRT*, Karaman and Frazzoli, LQR trees, Tedrake, code example
Tu Oct 2 Motion Planning: A* + variants Likhachev slides, Steven M. Lavalle, Motion Planning, Chapters 5, 14 Videos: Urban Challenge Parking, Quadruped, Mobile Manipulation; Papers: Likhachev, Gordon, Thrun, ARA*: Anytime A* with Provable Bounds on Sub-Optimality, van den Berg, Shah, Huang, Goldberg, Anytime Nonparametric A*, Koenig, Likhachev, Furcy, Lifelong Planning A*
Th Oct 4 Probability Review, Bayes Filters Intro: PR 1; Probability Review and Bayes Filters: PR 2
Tu Oct 9 Multivariate Gaussians PR 3
Th Oct 11 Kalman Filtering PR 3 From Gauss to Kalman
Tu Oct 16 EKF, UKF PR 3 Julier and Uhlmann, the UKF
Th Oct 18 Smoother, MAP
Tu Oct 23 Maximum Likelihood, EM
Th Oct 25 Inverse Optimal Control
Tu Oct 30 Optimization-based Motion Planning in the Presence of Obstacles; Learning Trajectories from Demonstrations --- Guest Lecturer: John Schulman
Th Nov 1 POMDPs
Tu Nov 6 Guest Lecture: Steve Cousins, CEO Willow Garage
Th Nov 8 SEIF, EnKF, EKF-SLAM, Motion Models, Beam Sensor Models, Scan Matching Motion Models: PR 5.1, 5.2, 5.3; Beam Sensor: PR 6.1, 6.2, 6.3;
Tu Nov 13 Optimization for Estimation, GraphSLAM, Particle Filters and Localization Particle Filters: PR 4, Localization: PR 8.1, 8.3 Doucet, Godsill, Andrieu, 1998, Arulampalam et al., 2002
Th Nov 15 Mapping with Known Poses, Rao-Blackwellized Particle Filters, gMapping Mapping with Known Poses: PR 9 Doucet, de Freitas, Murphy, Russell, Grisetti, Stachniss, Burgard T-RO 2006
Tu Nov 20 Grasping: Grasp Quality Metrics, Object Instance Detection Optimizing Grasp Quality--Schulman, Goldberg, Abbeel ISRR 2011, Murray, Li, Sastry, Chapter 5, Instance Recognition Challenge Winner--Tang, Miller, Singh, Abbeel ICRA 2012
Th Nov 22 Happy Thanksgiving!
Tu Nov 27 Autonomous Helicopters and Course Wrap-Up Abbeel, Coates, Ng, IJRR 2010
Th Nov 29 No Lecture --- Lecture moved to 12/7
Tu Dec 4 No Lecture --- Extended lecture on 12/6 instead
Th Dec 6 Project Presentations: Schedule 12:30pm-5pm, 310 Soda, there will be food
Fr Dec 7 Object Recognition and Detection: Feature Learning --- Guest Lecturer: Adam Coates, 11am-noon, 250 Sutardja Dai Hall Hands-On Unsupervised Feature Learning Tutorial

Related materials

Most relevant book for estimation: There is no direct match for other lectures, but here are some related resources: