Spring 2022 Lectures

Date

Lecture Topic

Lecture Slides

Supplemental Readings

1/13/22

Introduction

Lecture-1_slides

Class notes chapter 1

1/18/22


Background on probability

Class notes chapters 2.1, 2.2

1/20/22

Markov Chains

Class notes chapters 2.3, 2.4

1/25/22

Hidden Markov Models I

Class notes chapters 2.4

1/27/22

Hidden Markov Models II

Class notes chapters 2.4, 2.5

2/1/22

Kalman Filter Background

Class notes chapters 3.1, 3.2

2/3/22

Kalman Filter

Class notes chapters 3.3, 3.4, 3.5

2/8/22

Extended Kalman Filter

Class notes chapter 3.6

2/10/22

Unscented Kalman Filter

Class notes chapter 3.7

2/15/22

Particle Filter

Class notes chapter 3.8

2/17/22

Rigid Transforms, Quaternions

Class notes chapters 4.1, 4.2

2/21/22

Drop Period Ends

2/22/22

Occupancy Grids

Class notes chapters 4.3, 4.4, 4.5

2/24/22

Markov Decision Processes

3/1/22

Dynamic Programming

3/3/22

Infinite Horizon DP

3/15/22

Midterm



3/17/22

Background on linear control, LQR


3/22/22

Stochastic LQR, LQG

3/24/22

Background on Machine Learning


3/28/22

Last day to withdraw from a course


3/29/22

Iterative LQR, imitation learning

3/31/22

Behavior Cloning

4/5/22

Policy Gradients

4/7/22

Policy Gradients

4/12/22

Q-learning

4/14/22

Offline RL

4/19/22

Special Topics


4/21/22

Project Presentations


4/26/22

Project Presentations