Machine Learning for Robotics

CSE291-E00 - Spring 2022

Schedule

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

Robot Body

PDF Keynote Introduction
PDF Keynote Rigid Transformation

Robot Motion

PDF Keynote SO(3)
PDF Keynote Screw and Twist
PDF Keynote Inverse Kinematics
PDF Link Motion Planning

Dynamics

PDF Link Introduction to Dynamics
PDF Link Angular Momentum, Rotational Inertia
PDF Link Kinetic Energy, Force, Change of Frames
PDF Link Lagrangian Method

Control

PDF Link Variational Method, PID Control
PDF Link Optimal Control (LQR)

Section II: Reinforcement Learning

RL Concepts

PDF Link RL Framework (I)
PDF Link RL Framework (II)

RL as Optimization

PDF Link DQN and REINFORCE
PDF Link Advanced On-Policy RL
PDF Link Advanced Off-Policy RL

Long-Horizon RL

PDF Link Exploration (I)
PDF Link Exploration (II)
PDF Link Model-based RL

Generalizable RL

6/3 Offline RL, Model-based RL