ARO: Lectures | Open Course Materials

The slide deck will be updated as we progress through the semester.

Note that the content and topics will change slightly this year.

Week	Date	lecture notes	Lecturer	Lecture topic
10		Revision lecture	Steve Tonneau
9		Monday lecture Reinforcement learning	Steve Tonneau	Intro to reinforcement learning. Policy and value function Definitions Q table REINFORCE algorithm
8		Monday lecture Trajectory optimisation 1 Trajectory optimisation 2	Steve Tonneau
6 7		Monday lecture Dynamics 3 Dynamics 4	Subramanian Ramamoorthy	Rigig body dynamics Task Space Inverse Dynamics (TSID)
5 6		Monday lecture Dynamics 1 Dynamics 2	Subramanian Ramamoorthy
4		Monday Lecture Motion planning 1 Motion planning 2	Steve Tonneau	Potential fields Sampling-based planning
3	30/09/2024	Monday Lecture Forward and inverse kinematics	Steve Tonneau
2	23/09/2024	Tuesday lecture: so(3) written notes Monday lecture: forward geometry	Steve Tonneau	Tuesday lecture: Building a map for 3D rotations note: in the written notes the very last line is not captured, it describes the conjugate of a quaternion (link). Monday lecture: Rotations, placements, joint maps and forward geometry
1	15/09/2025	Tuesday lecture: Monday lecture: Intro slides Hands-on slides Least square optimisation Link to lecture code	Sethu Vijayakumar / Steve Tonneau	Tuesday lecture: Overview of the robotics field Monday lecture: Course introduction Hands on overview Introduction to unconstrained optimisation