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	HW2 Solutions
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	HW3 Solutions
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	Final Exam Practice Problems Final Exam Practice Solutions
Jun 10	Final Exam