Machine Learning for Robotics

CSE291-D00 - Spring 2021

Schedule

Section I: Geometry and Physics Foundation for Robotics with Rigid Body

Robot Body

3/30 PDF Keynote Introduction
4/1 PDF Keynote Rigid Transformation

Robot Motion

4/6 PDF Keynote SO(3)
4/8 PDF Keynote Screw and Twist
4/13 PDF Keynote Inverse Kinematics
4/20 PDF Link Motion Planning

Dynamics

4/15 PDF Link Introduction to Dynamics
4/20 PDF Link Angular Momentum, Rotational Inertia
4/22 PDF Link Kinetic Energy, Force, Change of Frames
4/27 PDF Link Lagrangian Method

Control

4/29 PDF Link Variational Method, PID Control
5/4 PDF Link Optimal Control (LQR)

Section II: Reinforcement Learning

RL Concepts

5/6 PDF Link RL Framework (I)
5/11 PDF Link RL Framework (II)

RL as Optimization

5/13 PDF Link DQN and REINFORCE
5/18 PDF Link Advanced On-Policy RL
5/20 PDF Link Advanced Off-Policy RL

Long-Horizon RL

5/25 PDF Link Exploration (I)
5/27 PDF Link Exploration (II)
6/1 PDF Link Model-based RL

Generalizable RL

6/3 Offline RL, Model-based RL