Course Calendar

Week 1

• Welcome to the course!!

Course Overview and Introductory Talks

1/20

Course Logistics (Ma’s slides)
A Brief History and Future Vistas in Robotics (Sastry’s slides)
Perception and Action (Malik’s slides)
A Viewpoint on Perception, Planning, and Control (Tomlin’s slides)
(Video)

Week 2

Perception and Vision for Manipulation and Navigation (Malik, Ma)

1/27

(Prof. Malik’s Slides) (Prof, Ma’s “Learning Geometry” Slides) (Prof. Ma’s “Image, Geometry, Symmetry” Slides) (Video)

Week 3

Optimal Control and LQR (Tomlin)

2/3

(Today’s Notes) (EE221A Notes) (Boardwork) (Video)
(Li & Todorov) (Murray & Yakowitz) (Dunn & Bertsekas)

Week 4

Kalman Filters and SLAM (Sastry)

2/10

(Part 1 Slides (Sastry)) (Part 2 Slides (Saxena, Chiu)) (Video)

Week 5

Reinforcement Learning & Optimal Control (Ma and Sastry)

2/17

(Slides) (Video)

Week 6

Combining Geometric Nonlinear Control with RL-Enabled Control (Westenbroek); Feedback Linearization vs Koopman Operator

2/24

(Slides) (Video) (Scribe Notes)

Week 7

Learning and Predictive Control

3/3

(Video) (Scribe Notes)

Week 8

Talk from Somil Bansal; Reinforcement Learning and LQR

3/10

(Video) (Scribe Notes)

Week 9

Safety and Performance Guarantee

3/17

(Video) (Scribe Notes)

Week 10

• No office hours this week

Spring Recess (No Class)

3/24

Stay safe!

Week 11

Project Proposal Presentations

3/31

Week 12

Locomotion

4/7

(Video) (Scribe Notes)

Week 13

Neuroscience Theory for Navigation

4/14

(Video) (Scribe Notes)

Week 14

Model-based RL or Model Predictive Control

4/21

(Video) (Scribe Notes)

Week 15

Vision-based Robotic Manipulation

4/28

(Video) (Scribe Notes)

Week 16

Final Project Presentation

5/5

(Slides) (Video) (Scribe Notes)

Week 17

• Good luck on your exams!

---