Schedule

Schedule	Broad Area	Topics covered in Lecture
1/13 Lec 1	Refresher in Robotics	Kinematics & Dynamics review - Intro to Task-Configuration-work-joint spaces
1/20 Lec 2	Planning	Task Spaces in Robotics
1/27 Lec 3	Planning	Search A, D, RRT, PRM
2/3 Lec 4	Planning	Convex Optimization Basics (constrained & unconstrained)
2/10 Lec 5	Planning	Optimization based Planning
2/10 due 6PM ET		Assignment 1 due
2/17 Lec 6	Control	Intro to stochastic Optimal Control: LQR, iLQR
2/24		Reading Week (no class)
3/3 Lec 7	Control	Optimization-based Control: Collocation, Shooting, MPC
3/10 Lec 8	RL	Intro to RL for Robotics
3/10 due 6PM ET		Project Proposals due
3/17 Lec 9	RL	Model-Free RL + Model Based RL
3/17 due 6PM ET		Assignment 2 due
3/24 Lec 10	Perception	Perception in Robotics
3/31 Lec 11	Perception	ML in Robot Perception
3/31 due 6PM ET		Assignment 3 due
4/7 Lec 12	Perception	3D Perception: Tracking and Pose Estimation
4/10		Take home Final
4/16		Final Project Presentations (recorded) + Reports