Schedule

Schedule	Broad Area	Topics covered in Lecture
9/15 Lec 1	Refresher in Robotics	Kinematics & Dynamics review - Intro to Task-Configuration-work-joint spaces
9/22 Lec 2	Planning	Search A, D, RRT, PRM
9/29 Lec 3	Planning	Convex Optimization Basics (constrained & unconstrained)
10/6 Lec 4	Planning	Optimization based Planning
10/13 Lec 5	Control	Introduction to state-space systems and non-linear control
10/20 due 5PM ET		Assignment 1 due
10/20 due 5PM ET		Project Proposals due
10/20 Lec 6	Control	Intro to stochastic Optimal Control: LQR, iLQR
10/27 Lec 7	Control	Optimization-based Control: Collocation, Shooting, MPC
11/3 due 5PM ET		Assignment 2 due
11/3 Lec 9	RL	MDP: Value/Policy Iteration (exact methods) (1)
11/10 Lec 10	RL	Model-Free RL
11/17 Lec 11	RL	Model-Based RL
11/17 due 5PM ET		Assignment 3 due
11/24 Lec 12	Perception	Probability and Statistics, Regression and Classification Object Recognition with SVMs
12/1 Lec 13	Perception	CNNs for Object Recognition & Image segmentation-- DL for perception
12/8 Lec 14	Perception	Visual Servoing & Bayesian Target Tracking (using Bayesian filtering techniques)
12/8 due 5PM ET		Assignment 4 due
12/9 due midnight		Final (take home, open book, open notes, no collab)
12/12 due midnight		Final project report due