UCSD ECE276B: Planning & Learning in Robotics (Spring 2021)

Date Lecture Materials Assignments
Mar 30 Introduction
Apr 01 Markov Chains Grinstead-Snell-Ch11
Apr 06 Markov Decision Processes Bertsekas 1.1-1.2
Apr 08 Dynamic Programming Bertsekas 1.3-1.4 HW1, PR1
Apr 13 Deterministic Shortest Path Bertsekas 2.1-2.3 HW1 Solutions
Apr 15 Configuration Space LaValle 4.3, 6.2-6.3
Apr 20 Search-based Planning LaValle 2.1-2.3, JPS
Apr 22 Catch-up
Apr 27 Anytime Incremental Search RTAA*, ARA*, AD*, Anytime Search HW2, PR2
Apr 29 Sampling-based Planning LaValle 5.5-5.6
May 04 Stochastic Shortest Path Bertsekas 7.1-7.3
May 06 Bellman Equations I Sutton-Barto 4.1-4.4
May 11 Bellman Equations II Sutton-Barto 4.5-4.8
May 13 Catch-up
May 18 Model-free Prediction Sutton-Barto 6.1-6.3 HW3, PR3
May 20 Model-free Control Sutton-Barto 6.4-6.7
May 25 Value Function Approximation Sutton-Barto Ch.9
May 27 Continuous-time Optimal Control Bertsekas 3.1-3.2
Jun 01 Pontryagin's Minimum Principle Bertsekas 3.3-3.4, Liberzon Ch. 2.4 and Ch. 4
Jun 03 Linear Quadratic Control Bertsekas 4.1
Jun 10 Final Exam