COMS 4733: Computational Aspects of Robotics


This course is an overview of the field of robotics. The intent of this course is to give students an in-depth understanding of how robots work, and the application and use of computation to typical robotic problems. Students will also be exposed to current research directions in robotics. A key component of the class is programming mobile robots and manipulators to implement robotic perception and planning algorithms.

  • Lecture Time: Fri 10:10 - 12:40

  • Lecture Location: TBD

  • Instructor: Shuran Song

  • TAs: TBD

  • Office Hours:

  • Shuran: Mon 10:30am-11:30am

  • TAs: TR 12:00pm-2:00pm

Quick Links

  • Piazza (question, discussion):

  • Coursework (zoom links, hangouts, projects):

Topics include:

  • Coordinate frames and representations.

  • Specification of position and orientation

  • Simulation environments

  • Perception in robotics: 2D and 3D vision

  • Learning based perception

  • Planning strategies in robotics.

  • Manipulator forward and inverse kinematics

  • Learning based planning: imitation learning, reinforcement learning, etc

  • Advanced topics and case study: human robot interaction, self-driving cars, etc


  • Data Structures

  • Knowledge of at least one of the following: C, C++,Python or Java. We will be using Python extensively in this course.

  • Knowledge of elementary Linear Algebra


  • Programming assignments: 25%,25%25%+(5% bunus),25%

  • Grade cutoff:

  • A+: 97 +, A: 92-97, A-: 87-91

  • B+: 83-86, B: 80-82, B-: 78-80

  • C: 70-77, D: 60-69, F: Below 60

Turn in Homework before deadline. No exceptions.

  • Time of deadline Thurday 12 pm

  • One minute late is late. The late penalty applied is by the number of hours late, rounded up:

    • Every hour late = lose 2 points

    • 1 days (24h) late = lose 48 points

    • More than 2 days (48h) late = lose all points

    • More than 2 days earlier = +4 points

  • If you have serious reasons, ask your advising dean to contact us.

Policies and Procedures Regarding Academic Honesty

Text Book

We do not require a textbook. However, you may find the following books are useful resources: