Skip to main content

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 pdf
3 Feb 2 Vision Signals, Filtering and Features pdf
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 pdf
7 Feb 16 Control Linear Systems, PID control pdf
8 Feb 23 Control, Planning Basic followers, potential field pdf
9 Feb 25 Path Planning Roadmap planners, RRT, etc. pdf
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 pdf
14 Mar 18 Learning HMM: Inference and Learning (see previous), paper
15 Mar 30 Learning Kalman filters pdf
-- 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 pdf
20 Apr 22 Learning Reinforcement Learning: Value/Policy Iteration (see previous)
21 Apr 27 Learning Reinforcement Learning: Continuous state / Finite Horizon pdf
22 Apr 29 Imitation Learning / POMDPs pdf
23 May 4 Vision Stereo and optical flow for robotics Noah Snavely
24 May 6 pdf
 

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.