Schedule
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EventDateDescriptionCourse Material
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Assignment01/13/2025
MondayHomework 0 (not graded) released! -
Lecture01/13/2025
MondayLecture 1 - Introduction[notes]Suggested Readings:
- Course Syllabus
- Thrun Chapter 1
- Barfoot Chapter 1
- Computing machinery and intelligence, Turing (2009)
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Lecture01/15/2025
WednesdayLecture 2 - Probability Review -
Due01/20/2025 23:59
MondayHomework 0 Solutions Released -
Lecture01/22/2025
WednesdayLecture 3 - Markov Chains and HMM I -
Lecture01/27/2025
MondayLecture 4 - HMM II -
Assignment02/03/2025
MondayHomework 1 released! -
Lecture02/03/2025
MondayLecture 6 - Baum-Welch & Intro to Kalman Filters -
Lecture02/05/2025
WednesdayLecture 7 - Linear State Estimation and Kalman Gain -
Lecture02/10/2025
MondayLecture 8 - Markov Decision Process + Kalman Filter -
Lecture02/12/2025
WednesdayLecture 9 - Extended Kalman Filter -
Lecture02/17/2025
MondayLecture 10 - Unscented Kalman Filter -
Lecture02/19/2025
WednesdayLecture 11 - Particle Filter -
Due02/19/2025 23:59
WednesdayHomework 1 Due on Gradescope -
Lecture02/24/2025
MondayLecture 12 - Rigid Body Transformations -
Lecture02/26/2025
WednesdayLecture 13 - Quaternions & Occupancy Grid Mapping -
Assignment03/01/2025
SaturdayHomework 2 released! -
Lecture03/01/2025
SaturdayLecture 5 - Decoding, and Viterbi's Algorithm -
Lecture03/03/2025
MondayLecture 14 - Occupancy Grid Mapping and Sesnor Models -
Lecture03/05/2025
WednesdayLecture 15 - Dynamic Programming -
Lecture03/17/2025
MondayLecture 16 - Stochastic Dynamic Programming -
Lecture03/19/2025
WednesdayLecture 17 - Infite Horizon DP, and Bellman Equation -
Due03/19/2025 23:59
WednesdayHomework 2 Due on Gradescope -
Lecture03/24/2025
MondayLecture 18 - Value Iteration -
Lecture03/26/2025
WednesdayLecture 20 - Policy Iteration & Chapter 6 Introduction -
Lecture03/31/2025
MondayLecture 20 - Linear Quadratic Regulator -
Lecture04/02/2025
WednesdayLecture 21 - Continuous Time Systems and HJB -
Lecture04/07/2025
MondayLecture 22 - Stochastic LQR and Duality of LQR and Kalman Filters -
Lecture04/09/2025
WednesdayLecture 23 - Iterative LQR, MPC, and Imitation Learning -
Lecture04/14/2025
MondayLecture 24 - BC-Stochastic Control and Chapter 8 - Policy Gradients -
Lecture04/16/2025
WednesdayLecture 25 - Chapter 8 - Cross-Entropy Methods, and Policy Gradients -
Lecture04/21/2025
MondayLecture 26 - The Policy Gradient; Control Variates; Actor-Critic Methods -
Lecture04/23/2025
WednesdayLecture 27 - Chapter 9 - Q-Learning -
Lecture04/28/2025
MondayLecture 28 - Chapter 9 - Delayed Targets; Double Q-Learning + Closing remarks