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.
Week | Date | Lecture (Slides) | Topic(s) | Supplementary Readings |
1 | 16 Sep | Introduction, probability basics | Chapter 2, PR | |
18 Sep | Probability basics | Chapter 2, PR; (Optional) Chapter 2, PGM | ||
19 Sep | S3_ProbStateEstimate | Probabilistic state estimation | Chapter 2, PR | |
2 | 23 Sep | S4_GraphBayesNets | Graphs, Bayes nets | (Optional) Chapter 2, PGM |
25 Sep | Graphs, Bayes nets | |||
26 Sep | S7_GaussianFilters | Gaussian filters | Chapter 3 (3.1-3.4), PR | |
3 | 30 Sep | Gaussian filters | ||
2 Oct | S8_ParticleFilters | Particle filters | Chapter 4, PR | |
3 Oct | Particle filters | |||
4 | 7 Oct | S5_RobotMotion | Robot motion | Chapter 5, PR |
9 Oct | Robot motion | |||
10 Oct | S6_RobotSensing | Robot sensing | Chapter 6, PR | |
5 | 14 Oct | S0_ROS2 | ROS tutorial | |
16 Oct | S9_Mapping | Localization, Mapping | Chapter7, Chapter 8 (8.1, 8.3-), PR | |
17 Oct | Mapping | Chapter 9, PR | ||
6 | 21 Oct | S10_FastSLAM | SLAM | Chapter 10, PR |
23 Oct | SLAM | Chapter 13, PR | ||
24 Oct | S11_MDP | MDPs | Chapter 14, PR; (optional) Chapter 1, 3, RL | |
7 | 28 Oct | MDPs | ||
30 Oct | S12_MDP_RL | MDP, RL | (Optional) Chapter 1,3, RL | |
31 Oct | RL | (Optional) Chapters 4-6, RL | ||
8 | 4 Nov | S13_POMDP | POMDP | Chapter 15, PR |
6 Nov | EUFS - SLAM | FastSLAM workshop | ||
7 Nov | POMDP | |||
9 | 11 Nov | S13b_POMDP_Example | POMDP example | |
13 Nov | S14_Dec-POMDP | Dec-POMDP | ||
14 Nov | Dec-POMDP, Examples | |||
10 | 18 Nov | Practical examples | ||
20 Nov | Practical examples | |||
21 Nov | Logics | Chapter 1-2, KR | ||
11 | 25 Nov | Logics | ||
27 Nov | ||||
28 Nov |
License
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