Schedule

Event

Date

Description

Course Material
Assignment

01/18/2024
Thursday

Homework 0 (not graded) released!

[Homework 0 (not graded)]
Lecture

01/18/2024
Thursday

Lecture 1 - Introduction
[notes]
Suggested Readings:
- Course Syllabus
- Thrun Chapter 1
- Barfoot Chapter 1
- Computing machinery and intelligence, Turing (2009)
Lecture

01/23/2024
Tuesday

Lecture 2 - Probability Review
[Chapter 2 notes]
Lecture

01/25/2024
Thursday

Lecture 3 - Markov Chains and HMM I
[Chapter 2 notes]
Due

01/25/2024 23:59
Thursday

Homework 0 Solutions Released
Lecture

01/30/2024
Tuesday

Lecture 4 - HMM II
[Chapter 2 notes]
Lecture

02/01/2024
Thursday

Lecture 5 - Decoding, and Viterbi's Algorithm
[Chapter 2 notes] [Class notes]
Assignment

02/06/2024
Tuesday

Homework 1 released!

[Homework 1]
Lecture

02/06/2024
Tuesday

Lecture 6 - Baum-Welch & Intro to Kalman Filters
[Chapter 3 notes]
Lecture

02/08/2024
Thursday

Lecture 7 - Linear State Estimation and Kalman Gain
[Chapter 3 notes] [Class notes]
Lecture

02/13/2024
Tuesday

Lecture 8 - Markov Decision Process + Kalman Filter
[Chapter 3 notes] [Class notes]
Lecture

02/15/2024
Thursday

Lecture 9 - Extended Kalman Filter
[Chapter 3 notes] [Class notes]
Lecture

02/20/2024
Tuesday

Lecture 10 - Unscented Kalman Filter
Due

02/20/2024 23:59
Tuesday

Homework 1 Due on Gradescope
Lecture

02/22/2024
Thursday

Lecture 11 - Particle Filter
[Class notes]
Lecture

02/27/2024
Tuesday

Lecture 12 - Rigid Body Transformations
[Chapter 4 notes] [Class notes]
Assignment

02/29/2024
Thursday

Homework 2 released!

[Homework 2]
Lecture

02/29/2024
Thursday

Lecture 13 - Quaternions & Occupancy Grid Mapping
[Chapter 4 notes]
Lecture

03/12/2024
Tuesday

Lecture 14 - Occupancy Grid Mapping and Sesnor Models
[Class notes]
Lecture

03/14/2024
Thursday

Lecture 15 - Dynamic Programming
[Chapter 5 notes]
Lecture

03/19/2024
Tuesday

Lecture 16 - Stochastic Dynamic Programming
[Chapter 5 notes]
Due

03/19/2024 23:59
Tuesday

Homework 2 Due on Gradescope
Lecture

03/21/2024
Thursday

Lecture 17 - Infite Horizon DP, and Bellman Equation
[Chapter 5 notes]
Lecture

03/26/2024
Tuesday

Lecture 18 - Value Iteration
[Chapter 5 notes]
Lecture

03/28/2024
Thursday

Lecture 20 - Policy Iteration & Chapter 6 Introduction
[Chapter 5 notes]
Assignment

04/01/2024
Monday

Homework 3 released!

[Homework 3]
Lecture

04/02/2024
Tuesday

Lecture 20 - Linear Quadratic Regulator
[Chapter 6 notes]
Lecture

04/04/2024
Thursday

Lecture 21 - Continuous Time Systems and HJB
[Chapter 6 notes]
Lecture

04/09/2024
Tuesday

Lecture 22 - Stochastic LQR and Duality of LQR and Kalman Filters
[Chapter 6 notes]
Lecture

04/11/2024
Thursday

Lecture 23 - Iterative LQR, MPC, and Imitation Learning
[Chapter 7 notes]
Assignment

04/16/2024
Tuesday

Homework 4 released!

[Homework 4]
Lecture

04/16/2024
Tuesday

Lecture 24 - BC-Stochastic Control and Chapter 8 - Policy Gradients
[Chapter 8 notes]
Due

04/16/2024 23:59
Tuesday

Homework 3 Due on Gradescope
Lecture

04/18/2024
Thursday

Lecture 25 - Chapter 8 - Cross-Entropy Methods, and Policy Gradients
[Chapter 8 notes]
Lecture

04/23/2024
Tuesday

Lecture 26 - The Policy Gradient; Control Variates; Actor-Critic Methods
[Chapter 8 notes]
Lecture

04/25/2024
Thursday

Lecture 27 - Chapter 9 - Q-Learning
[Chapter 9 notes]
Lecture

04/25/2024
Thursday

Lecture 28 - Chapter 9 - Delayed Targets; Double Q-Learning + Closing remarks
[Chapter 9 notes]
Due

05/07/2024 23:59
Tuesday

Homework 4 Due on Gradescope