EECS C106B/206B | Robotic Manipulation and Interaction
Spring 2025 | Instructor: Professor Shankar Sastry
Week 16
Woohoo!! We’re so excited to see what you have to show off starting tomorrow :) Please read below for some pertinent end-of-term information.
Grades:
- Projects 3 & 4 have been graded and published.
- Homework 5 has been graded (solutions can be found here)
- All regrade requests are due Sun 5/11 11:59pm
Final Projects Showcase:
- Please check your showcase slot here, as it may have changed.
- Though the food forms may have still been open, if you filled it out later than 5/1 11:59pm, your order was not placed.
- Invite your friends and family to Showcase! If they can’t be there in person, you can share this Zoom link with them instead.
- Meeting ID: 937 0556 5480
- Passcode: showcase
- Please note that your noted estimated start time is just that–an estimate. You should let your guests know that you may be presenting earlier or later than the indicated time.
- This should, however, not matter for you personally! As a reminder, you are required to be at the entirety of your Showcase block. Showcase does not start on Berkeley time.
- Please submit your slides link by 11:59pm. You must also verify that the slides AND any videos are viewable by anyone at UC Berkeley.
- Please fill out this form by 11:59pm tonight! Only one member per team needs to fill it out.
- Your slides do not have to be complete by 11:59pm tonight–just share the link to the presentation.
- Please note: Failure to share slides and adjust permission settings as requested will impact your grade. If you do not share the link to the slides, you will not have slides as a resource during your presentation. If the videos are not shared, you will not be given a chance to change those settings while presenting and will have to forego showing the videos. This will almost definitely result in a lower final project score.
We’re very excited to see what you’ve been working on!
Course Calendar
Calendar subject to change at any time
Week 1 - New Vistas in Robotics and Linear Control
- Discussion 1: Dynamical Systems & Linear Control (Worksheet) (Boardwork) (Video) (Solutions)
- Homework 0: EECS 106A Diagnostic - due 02/03
- Optional Project 0: ROS Review
- Resources for Reading a Scientific Paper
- “Reading a scientific or engineering paper”, presented by Professor Terry Johnson (now at University of Chicago)
- “How to read all of research (a lit review)”, presented by David McPherson (now at University if Illinois, Urbana-Champaign)
Course Logistics, New Vistas in Robotics
1/21
(Logisitcs Slides) (Video)
Reading - MLS 2.1-2.5, 3.1-3.3
Optional Reading - MLS Appendix A.3
New Vistas in Robotics (Continued)
1/23
(Slides) (Video)
Reading - MLS Ch 3.4, 4.1-4.3
Week 2 - Introduction to Basic Lyapunov Stability and Nonlinear Control
- Homework 1: Dynamical Systems - due 02/05
- Discussion 2: Lyapunov Stability and Optimization (Worksheet) (Boardwork) (Video) (Solutions)
- Project 1: Visual Servoing - due 02/10
- Lab Slides
- Journal Club Signups
Week 3 - Steering and Controllability
- Homework 2: Controls (due 02/18)
- Discussion 3: Model Predictive Control (Worksheet) (Boardwork) (Video) (Solutions)
Week 4 - Steering with Sinusoids
- Project 2: Nonholonomic Control - due 02/24
- Discussion 4: Feedback Linearization (Worksheet) (Boardwork) (Video) (Solutions)
Week 5 - Feedback Linearization
Week 6 - Multi-Input Feedback Linearization and Nonholonomic Systems
- Project 3: State Estimation - due 03/21
- Discussion 6: Probability and Computer Vision (Worksheet) (Boardwork) (Video) (Solutions)
- Homework 3: Controls (due 03/11)
Week 7 - SLAM
- Homework 4: Filtering and Vision - due 04/01
- Discussion 7: Kalman Filtering (Worksheet) (Boardwork) (Video) (Solutions)
Week 8 - More SLAM
- Homework 4: Filtering and Vision - due 04/01
- Discussion 8: SLAM (Worksheet) (Boardwork) (Video) (Solutions)
Week 9 - Grasping
- Final Project Guidelines
- Discussion 9: Final Project Rollout and Mixer
- All discussions combined into one 3-5pm session in Cory 337 with snacks
Week 10 - Spring Break
Spring Break (No Class)
3/25
Have fun!
Spring Break (No Class)
3/27
Have fun!
Week 11 - Optimal Control and Reinforcement Learning
- Project 4: Grasping - due 04/17
- Homework 5: Grasping - due 04/15
- Discussion 10: Grasping (Worksheet) (Boardwork) (Video) (Solutions)
Week 12 - AI Racing Tech
- Discussion 11: Optimal Control & RL (Worksheet) (Boardwork) (Video) (Solutions)
AI Racing Tech Part I (Kunal)
4/8
(Slides) (Boardwork) (Video)
AI Racing Tech Part II (Dvij)
4/10
(Slides) (Boardwork) (Video)
Week 13 - Legged Robotics
Legged Robotics with Prof. Koushil Sreenath, Part I
4/15
(Slides) (Boardwork) (Video)
Legged Robotics with Prof. Koushil Sreenath, Part I
4/17
(Slides) (Boardwork) (Video)
Week 14 - AR/VR
AR and VR
4/22
(Slides) (Boardwork) (Video)
AR and VR
4/24
(Slides) (Boardwork) (Video)
Special Topics
Tilt Rotors, Part I
4/29
(Slides) (Boardwork) (Video)
Tilt Rotors, Part II
5/1
(Slides) (Boardwork) (Video)
Week 16
Final Project Showcase
5/9
Week 17
- Good luck on your exams!
Finals Week
5/16
Final Project Report and Website Due