MOB: Schedule

Textbook Abbreviation:

  • PR - Sebastian Thrun, Wolfram Burgard, and Dieter Fox. "Probabilistic Robotics", MIT Press, 2005.
  • KR - Michael Gelfond and Yulia Kahl. "Knowledge Representation, Reasoning, and the Design of Intelligent Agents: The Answer Set Programming Approach", Cambridge University Press, 2014.
  • RL - Richard Sutton and Andrew Barto. "Reinforcement Learning: An Introduction", Second edition, MIT Press, 2018. (full PDF available for free)
  • (Optional) PGM - Daphne Koller and Nir Friedman. "Probabilistic Graphical Models: Principles and Techniques", MIT Press, 2009.
     

All relevant material will be discussed in class. The "supplementary readings" (including any links to papers provided later) are for additional information about the corresponding topics.  The "optional" items are not in the official reading list but are available through our library.

Course Lecture+Tutorial Schedule
 Week  Date Lecture (Slides)  Topic(s) Supplementary Readings
1 16 Sep

S1_Introduction

S2_ProbabilityBasics

Introduction, 

probability basics

Chapter 2, PR
18 Sep Probability basicsChapter 2, PR; (Optional) Chapter 2, PGM
 19 SepS3_ProbStateEstimateProbabilistic state estimationChapter 2, PR
2 23 SepS4_GraphBayesNetsGraphs, Bayes nets(Optional) Chapter 2, PGM
 25 Sep Graphs, Bayes nets 
 26 SepS7_GaussianFiltersGaussian filtersChapter 3 (3.1-3.4), PR
330 Sep Gaussian filters 
2 OctS8_ParticleFiltersParticle filtersChapter 4, PR
3 Oct Particle filters 
47  OctS5_RobotMotionRobot motionChapter 5, PR
9 Oct Robot motion 
10 OctS6_RobotSensingRobot sensingChapter 6, PR
514 OctS0_ROS2ROS tutorial 
16 OctS9_MappingLocalization, MappingChapter7, Chapter 8 (8.1, 8.3-), PR
17 Oct MappingChapter 9, PR
621 OctS10_FastSLAMSLAMChapter 10, PR
23 Oct SLAMChapter 13, PR
 24 OctS11_MDPMDPsChapter 14, PR; (optional) Chapter 1, 3, RL
728 Oct MDPs 
30 OctS12_MDP_RLMDP, RL(Optional) Chapter 1,3, RL
31 Oct RL(Optional) Chapters 4-6, RL
8 4 NovS13_POMDPPOMDPChapter 15, PR
 6 NovEUFS - SLAMFastSLAM workshop 
7 Nov POMDP 
911 NovS13b_POMDP_ExamplePOMDP example 
13 NovS14_Dec-POMDPDec-POMDP 
14 Nov Dec-POMDP, Examples 
1018 Nov Practical examples 
20 Nov Practical examples 
21 Nov LogicsChapter 1-2, KR
1125 Nov Logics 
27 Nov   
28 Nov   
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