| Date | Topic | Links | Instructor; Scribe | MP | |
|---|---|---|---|---|---|
| 1 | Mon, Jan 14 | Overview, linear algebra tour, regression, k-means clustering | code slides (pdf) | Sayan & Katie | Project ideas document (pdf) |
| 2 | Wed, Jan 16 | Background | Righthook, ROS; slides (pdf) | Ted and Pulkit; David | MP0 |
| 3 | Mon, Jan 21 | MLK Day | |||
| 4 | Wed, Jan 23 | Project discussion | Sayan & Katie | ||
| 5 | Mon, Jan 28 | Vision I: Filtering, convolution, gradients, edge detection | code slides (pdf) | Sayan | MP1 released |
| 6 | Wed, Jan 30 | No class; -11F | |||
| 7 | Mon, Feb 4 | Neural networks I | Fundamentals slides (pdf) | Katie | |
| 8 | Wed, Feb 6 | Neural networks II | Deep Learning slides (pdf) | Katie | MP1 deadline |
| 9 | Mon, Feb 11 | Tutorial PyTorch | tutorial code | Ted | MP2 released |
| 10 | Wed, Feb 13 | Vision II: Recognition | Bag of visual words, clustering, K-NN slides (pdf) | Sayan | |
| 11 | Mon, Feb 18 | Classification: Support Vector Machines | Kernel trick slides (pdf) scribed notes (pdf) | Sayan; Shengkun | |
| 12 | Wed, Feb 20 | Localization, Filtering | Bayes, Histogram, Particle filters, Grid and Monte Carlo localization slides (pdf) | Sayan | |
| 13 | Mon, Feb 25 | SLAM; FastSLAM with PF | Factoring posterior probabilities; Rao-Blackwellization slides (pdf) | Sayan | |
| 14 | Wed, Feb 27 | Midterm I Review | review slides (pdf) | Katie | MP2 deadline; MP3 release |
| Mon, Mar 4 | Midterm 1 | ||||
| 15 | Wed, Mar 6 | Decision Making I | slides (pdf) | Katie | |
| 16 | Mon, Mar 11 | Decision Making II | slides (pdf) | Katie | |
| 17 | Wed, Mar 13 | Reinforcement Learning | slides (pdf) | Katie | MP3 Due MP4 release |
| Mon, Mar 18 | Spring Break | ||||
| Wed, Mar 20 | Spring Break | ||||
| 18 | Mon, Mar 25 | Control I | Dynamical systems slides (.pdf) | Sayan | |
| 19 | Wed, Mar 27 | Control II | Linear systems, discrete abstractions, stability definitions slides (.pdf) | Sayan | MP4 Due (Friday) |
| 20 | Mon, Apr 1 | Lyapunov method and hybrid systems | Switching, Zeno, stability, definitions slides (.pdf) | Sayan | |
| 21 | Wed, Apr 3 | Planning | PRMs, RRTs slides (.pdf) | Katie | MP5 release |
| 22 | Mon, Apr 8 | Planning and control tutorial | RRT tutorial, vehicle controller, code organization slides (.pdf) | Pulkit | |
| 23 | Wed, Apr 10 | Safety/Verification | Discrete models, invariance verification slides (.pdf) | Sayan & Chuchu | |
| 24 | Mon, Apr 15 | Safety/Verification | CTL, CTL verification slides (.pdf) | Sayan & Chuchu | |
| 25 | Wed, Apr 17 | Safety/Verification | Timed and hybrid model slides (.pdf) | Sayan & Chuchu | MP5 Due |
| 26 | Mon, Apr 22 | Probabilistic reasoning and programming | Guest lecture by Sasa M. | ||
| 27 | Wed, Apr 24 | Mid term 2 (Final) | |||
| 28 | Mon, Apr 29 | Internal project review | |||
| 29 | Wed, May 1 | Project presentation/ competition |
