ARO: Lectures | Open Course Materials

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	16/09/2024	Tuesday lecture: Least square optimisation Link to lecture code Monday lecture: Intro slides Overview slides Hands-on slides	Subramanian Ramamoorthy / Steve Tonneau	Tuesday lecture: Introduction to unconstrained optimisation Monday lecture: Course introduction Overview of the robotics field Hands on overview