|
UCSD ECE276B: Planning & Learning in Robotics (Spring 2023)
| Date | Lecture | Materials | Assignments |
| Apr 04 | Introduction | | |
| Apr 06 | Markov Chains | Grinstead-Snell Ch 11 | |
| Apr 11 | Markov Decision Processes | Bertsekas 1.1-1.2 | |
| Apr 13 | Dynamic Programming | Bertsekas 1.3-1.4 | HW1, PR1 |
| Apr 18 | Deterministic Shortest Path | Bertsekas 2.1-2.3 | HW1 Solutions |
| Apr 20 | Catch-up | | |
| Apr 25 | Configuration Space | LaValle 4.3, 6.2-6.3 | |
| Apr 27 | Search-based Planning | LaValle 2.1-2.3, JPS | |
| May 02 | Catch-up | | |
| May 04 | Anytime Incremental Search | RTAA*, ARA*, AD*, Anytime Search | HW2, PR2 |
| May 09 | Sampling-based Planning | LaValle 5.5-5.6 | HW2 Solutions |
| May 11 | Infinite-Horizon Optimal Control | Bertsekas 7.1-7.3, Sutton-Barto Ch 4 | |
| May 16 | Infinite-Horizon Optimal Control | Bertsekas 7.1-7.3, Sutton-Barto Ch 4 | |
| May 18 | Catch-up | | |
| May 23 | Model-Free Prediction | Sutton-Barto 6.1-6.3 | |
| May 25 | Model-Free Control | Sutton-Barto 6.4-6.7 | HW3, PR3 |
| May 30 | Value Function Approximation | Sutton-Barto Ch.9 | HW3 Solutions |
| Jun 01 | Catch-up | | |
| Jun 06 | Linear Quadratic Control | Bertsekas 4.1 | Final Exam Practice Problems |
| Jun 08 | Continuous-time Optimal Control | Bertsekas Ch. 3, Liberzon Ch. 2.4 and Ch. 4 | Final Exam Practice Problem Solutions |
| Jun 14 | Final Exam, 8:00 am | |
|
|