See the recent offering of the class
Go to: course materials, projects, optional TA lecture schedule, CS6758 Discussion section
Lectures
Note: The notes posted below may not be include all the material covered in the class. Please refer to what was discussed in the actual class.
# | DATE | TOPIC | NOTES | |
---|---|---|---|---|
1 | Jan 26 | Introduction | Overview | none, (also see materials page for review material) |
2 | Jan 28 | Robot Kinematics | Forward Kinematics, Inverse Kinematics | |
3 | Feb 2 | Vision | Signals, Filtering and Features | |
4 | Feb 4 | Learning | Projects, Supervised Learning, Linear Regression, Nearest neighbors | pdf (part of notes) |
5 | Feb 9 | Learning | Statistical Modeling of Sensors | first part, second part on blackboard (no notes) |
6 | Feb 11 | Learning | Localization: Statistical Action and Perception | |
7 | Feb 16 | Control | Linear Systems, PID control | |
8 | Feb 23 | Control, Planning | Basic followers, potential field | |
9 | Feb 25 | Path Planning | Roadmap planners, RRT, etc. | |
10 | Mar 2 | Learning | Logistic Regression, maximum likelihood, testing. | none (on blackboard, in class) |
11 | Mar 4 | Learning | Kernels, Large Margin, SVM. | extended notes |
12 | Mar 9 | Learning | Duality. Vision-based features | (previous), pdf |
13 | Mar 16 | Learning | Markov Process, discrete HMM | |
14 | Mar 18 | Learning | HMM: Inference and Learning | (see previous), paper |
15 | Mar 30 | Learning | Kalman filters | |
-- | Mar 31, Apr 1 | Presentation | Mid-term project presentations | - |
16 | April 6 | Learning | Kalman filter contd. | (see previous) |
Apr 8 | Prelim | 7:30-10pm. Open notes midterm. | PHL101 | |
17 | April 13 | Learning | Extended Kalman Filter. | (see previous) |
18 | April 15 | Learning | Particle filters. | coming soon |
19 | Apr 20 | Learning | Reinforcement Learning: MDP, Bellman eqns, Value Iteration | |
20 | Apr 22 | Learning | Reinforcement Learning: Value/Policy Iteration | (see previous) |
21 | Apr 27 | Learning | Reinforcement Learning: Continuous state / Finite Horizon | |
22 | Apr 29 | Imitation Learning / POMDPs | ||
23 | May 4 | Vision | Stereo and optical flow for robotics | Noah Snavely |
24 | May 6 |
Optional TA Lectures
### | DATE | TOPIC | NOTES | |
---|---|---|---|---|
TA 1 | Jan 29 | Review Session | Statistics, Basic Linear Algebra. (By Mark.) | See materials page |
TA 2 | Feb 5 | Special recommended session | Robot Operating System (ROS). (By Jonathan.) | ROS Tutorials |
TA 3 | Feb 12 | Special topic | OpenCV: Vision programming. (By Yue.) | |
TA 4 | Feb 18 | Special Topic | Rovio Projects. (By Jonathan.) |
CS 6758: paper discussion section
# | DATE | TOPIC | NOTES | |
---|---|---|---|---|
1 | Mar 5 | CS 6758 discussion section | Nan Xiao, Hee Jung Ryu | pdf1 pdf2 pdf3 pdf4 |
2 | Mar 12 | CS 6758 discussion section | ||
4 | Apr 9 | CS 6758 discussion section | Daniel Hauagge, Song Cao | pdf, pdf3pdf4 |
4 | Apr 16 | CS 6758 discussion section |
Some of these lecture notes have been taken from the following classes: CS223A by Oussama Khatib, CS229 by Andrew Ng.