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UCSD ECE276B: Planning & Learning in Robotics (Spring 2022)
| Date | Lecture | Materials | Assignments |
| Mar 29 | Introduction | | |
| Mar 31 | Markov Chains | Grinstead-Snell-Ch11 | |
| Apr 05 | Markov Decision Processes | Bertsekas 1.1-1.2 | |
| Apr 07 | Dynamic Programming | Bertsekas 1.3-1.4 | HW1, PR1 |
| Apr 12 | Deterministic Shortest Path | Bertsekas 2.1-2.3 | HW1 Solutions |
| Apr 14 | Catch-up | | |
| Apr 19 | Configuration Space | LaValle 4.3, 6.2-6.3 | |
| Apr 21 | Search-based Planning | LaValle 2.1-2.3, JPS | |
| Apr 26 | Catch-up | | |
| Apr 28 | Anytime Incremental Search | RTAA*, ARA*, AD*, Anytime Search | HW2, PR2 |
| May 03 | Sampling-based Planning | LaValle 5.5-5.6 | HW2 Solutions |
| May 05 | Stochastic Shortest Path | Bertsekas 7.1-7.3 | |
| May 10 | Bellman Equations I | Sutton-Barto 4.1-4.4 | |
| May 12 | Bellman Equations II | Sutton-Barto 4.5-4.8 | |
| May 17 | Catch-up | | HW3, PR3 |
| May 19 | Model-free Prediction | Sutton-Barto 6.1-6.3 | HW3 Solutions |
| May 24 | Model-free Control | Sutton-Barto 6.4-6.7 | |
| May 26 | Value Function Approximation | Sutton-Barto Ch.9 | |
| May 31 | Continuous-time Optimal Control,
Pontryagin's Minimum Principle | Bertsekas 3.1-3.4, Liberzon Ch. 2.4 and Ch. 4 | |
| Jun 01 | Office Hours, 5:00 pm, Zoom | | |
| Jun 02 | Linear Quadratic Control | Bertsekas 4.1 | |
| Jun 07 | Office Hours, 5:00 pm, Zoom | | Final Exam Practice Problems
Final Exam Practice Problem Solutions |
| Jun 08 | Office Hours, 5:00 pm, Zoom | | Final Exam Spring 2021
Final Exam Spring 2021 Solutions |
| Jun 09 | Final Exam, 7:00 pm, CENTR 105 | | Final Exam Solutions
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