Tentative schedule (subject to change):
Lecture | Topic | Readings | Optional/Additional Readings |
Th Aug 29 | Course Introduction (slides) | ||
Tu Sep 3 | MDPs: Exact Methods (slides) | Sutton and Barto, Reinforcement Learning, Chapters 3 and 4 | |
Th Sep 5 | Discretization of Continuous State Space MDPs (slides) | Moore and Atkeson, 1993, Munos and Moore, MLJ 2001, | |
Tu Sep 10 | Function Approximation / Feature-based Representations (slides) | Chow and Tsitsiklis, 1991, Gordon, 1995, Tsitsiklis and Van Roy, 1996, Kushner and Dupuis, 1992/2001, | |
Th Sep 12 | LQR, iterative LQR / Differential Dynamic Programming (slides) | ||
Tu Sep 17 | Unconstrained Optimization (slides) | Boyd and Vandenberghe, Chapters 9-11 | |
Th Sep 19 | Constrained Optimization (slides) | Nocedal and Wright, Chapter 18 | |
Tu Sep 24 | No Lecture | ||
Th Sep 26 | Optimization-based Control: Collocation, Shooting, MPC (basics/foundations) (slides) | ||
Tu Oct 1 | Optimization-based Control: Collocation, Shooting, MPC, Contact-Invariant Optimization (advanced) -- Igor Mordatch (slides) | ||
Th Oct 3 | Motion Planning: RRT, PRM, Trajopt, 3-d poses (slides) | Steven M. Lavalle, Motion Planning, Chapters 5, 14, RRT*, Karaman and Frazzoli, LQR trees, Tedrake | |
Tu Oct 8 | Probability Review, Bayes Filters, Multivariate Gaussians (slides) | ||
Thu Oct 10 | Kalman Filtering, EKF, UKF -- Ignasi Clavera (slides) | From Gauss to Kalman, Julier and Uhlmann, the UKF | |
Tu Oct 15 | Smoother, MAP, Maximum Likelihood, EM, KF parameter estimation (slides) | ||
Th Oct 17 | Particle Filters -- Wolfram Burgard (slides) | ||
Tu Oct 22 | POMDPs (slides) | ||
Th Oct 24 | INDUSTRY: Jur van den Berg and/or Sachin Patil Ike (no slides) | ||
Tu Oct 29 | Imitation Learning -- Laura Smith (slides) | ||
Th Oct 31 | RL1: Policy Gradients (slides) | ||
Tu Nov 5 | RL2: Off-policy RL (slides) | ||
Th Nov 7 | RL3: Model-based RL (slides) | ||
Tu Nov 12 | How do simulators work? (slides) | ||
Th Nov 14 | no lecture (midterm at night) | ||
Tu Nov 19 | Sim2Real -- Josh Tobin (slides) | ||
Th Nov 21 | INDUSTRY: Drago Anguelov waymo (no slides) | ||
Tu Nov 26 | INDUSTRY: Adam Bry/Hayk Martirosyan skyd.io (no slides) | ||
Th Nov 28 | Happy Thanksgiving! | ||
Tu Dec 3 | Backstories behind how some papers came about (no slides) | ||
Th Dec 5 | Autonomous Helicopters and Course Wrap-Up (slides) | ||
Week of Dec 9-13 | Project Presentations |