Learning in Robotics - UVA

Schedule

  • Event
    Date
    Description
    Course Material
  • Assignment
    01/13/2025
    Monday
    Homework 0 (not graded) released!
  • Lecture
    01/13/2025
    Monday
    Lecture 1 - Introduction

    Suggested Readings:

    • Course Syllabus
    • Thrun Chapter 1
    • Barfoot Chapter 1
    • Computing machinery and intelligence, Turing (2009)
  • Lecture
    01/15/2025
    Wednesday
    Lecture 2 - Probability Review
  • Due
    01/20/2025 23:59
    Monday
    Homework 0 Solutions Released
  • Lecture
    01/22/2025
    Wednesday
    Lecture 3 - Markov Chains and HMM I
  • Lecture
    01/27/2025
    Monday
    Lecture 4 - HMM II
  • Assignment
    02/03/2025
    Monday
    Homework 1 released!
  • Lecture
    02/03/2025
    Monday
    Lecture 6 - Baum-Welch & Intro to Kalman Filters
  • Lecture
    02/05/2025
    Wednesday
    Lecture 7 - Linear State Estimation and Kalman Gain
  • Lecture
    02/10/2025
    Monday
    Lecture 8 - Markov Decision Process + Kalman Filter
  • Lecture
    02/12/2025
    Wednesday
    Lecture 9 - Extended Kalman Filter
  • Lecture
    02/17/2025
    Monday
    Lecture 10 - Unscented Kalman Filter
  • Lecture
    02/19/2025
    Wednesday
    Lecture 11 - Particle Filter
  • Due
    02/19/2025 23:59
    Wednesday
    Homework 1 Due on Gradescope
  • Lecture
    02/24/2025
    Monday
    Lecture 12 - Rigid Body Transformations
  • Lecture
    02/26/2025
    Wednesday
    Lecture 13 - Quaternions & Occupancy Grid Mapping
  • Assignment
    03/01/2025
    Saturday
    Homework 2 released!
  • Lecture
    03/01/2025
    Saturday
    Lecture 5 - Decoding, and Viterbi's Algorithm
  • Lecture
    03/03/2025
    Monday
    Lecture 14 - Occupancy Grid Mapping and Sesnor Models
  • Lecture
    03/05/2025
    Wednesday
    Lecture 15 - Dynamic Programming
  • Lecture
    03/17/2025
    Monday
    Lecture 16 - Stochastic Dynamic Programming
  • Lecture
    03/19/2025
    Wednesday
    Lecture 17 - Infite Horizon DP, and Bellman Equation
  • Due
    03/19/2025 23:59
    Wednesday
    Homework 2 Due on Gradescope
  • Lecture
    03/24/2025
    Monday
    Lecture 18 - Value Iteration
  • Lecture
    03/26/2025
    Wednesday
    Lecture 20 - Policy Iteration & Chapter 6 Introduction
  • Lecture
    03/31/2025
    Monday
    Lecture 20 - Linear Quadratic Regulator
  • Lecture
    04/02/2025
    Wednesday
    Lecture 21 - Continuous Time Systems and HJB
  • Lecture
    04/07/2025
    Monday
    Lecture 22 - Stochastic LQR and Duality of LQR and Kalman Filters
  • Lecture
    04/09/2025
    Wednesday
    Lecture 23 - Iterative LQR, MPC, and Imitation Learning
  • Lecture
    04/14/2025
    Monday
    Lecture 24 - BC-Stochastic Control and Chapter 8 - Policy Gradients
  • Lecture
    04/16/2025
    Wednesday
    Lecture 25 - Chapter 8 - Cross-Entropy Methods, and Policy Gradients
  • Lecture
    04/21/2025
    Monday
    Lecture 26 - The Policy Gradient; Control Variates; Actor-Critic Methods
  • Lecture
    04/23/2025
    Wednesday
    Lecture 27 - Chapter 9 - Q-Learning
  • Lecture
    04/28/2025
    Monday
    Lecture 28 - Chapter 9 - Delayed Targets; Double Q-Learning + Closing remarks