Course Schedule#
Lecture slides are posted on Piazza.
| Event | Date | Lecture | Readings | Logistics |
|---|---|---|---|---|
| Lecture 1 | 08/29/2022 | Introduction | ||
| Lecture 2 | 08/31/2022 | RL Basics | DQN, DPG, DDPG, Reinforcement Learning, NPG, TRPO | Homework released |
| Lecture 3 | 09/07/2022 | Paper Presentations [slides1, slides2, slides3] | RL from Human Preferences (Jayant), REDQ (Swathi), Solving Rubik's Cube with a Robot Hand (Carl) | |
| Lecture 4 | 09/12/2022 | Advanced RL/HRL | ||
| Lecture 5 | 09/14/2022 | Paper Presentations [slides1, slides2, slides3] | Phasic PG (Yafei), Dream to Control (Mrinal), Data-Efficient HRL (Fukang) | |
| Lecture 6 | 09/19/2022 | Optimal Control, Adaptive Control, and Planning | ||
| Lecture 7 | 09/21/2022 | Paper Presentations [slides1, slides2] | Dynamic Movement Primitives (paper, blog; Karthik), BIT* (Siva) | |
| Lecture 8 | 09/26/2022 | Learning and Control | ||
| Lecture 9 | 09/28/2022 | Paper Presentations [slides1, slides2] | Motion Policy Networks (Paul), Coarse-to-Fine Q-attention (paper, background; Zhizhuo) | |
| Lecture 10 | 10/03/2022 | Cool Robotics Results | ||
| Lecture 11 | 10/05/2022 | Paper Presentations [slides1, slides2] | Sim2Real Table Tennis (Sahiti), Unified Whole-Body Control of Manipulation and Locomotion (Himangi) | Homework Due |
| Lecture 12 | 10/10/2022 | Deep Learning for Control | ||
| Lecture 13 | 10/12/2022 | Paper Presentations [slides1, slides2] | TossingBot (Anurag), Autonomously Untangling Long Cables (Vidhi) | Project Proposal Due |
| Lecture 14 | 10/24/2022 | Active Vision, Object-based perception, 3D learning and Robotics, SSL for Robotics | ||
| Lecture 15 | 10/26/2022 | Paper Presentations [slides1, slides2] | Neural Descriptor Fields (Mihir), Real-World Robot Learning with Masked Visual Pre-training (Ali) | |
| Lecture 16 | 10/31/2022 | Exploration and Curiosity Part I | ||
| Lecture 17 | 11/02/2022 | Paper Presentations [slides1, slides2] | Is Curiosity All You Need? (Nilay), DISCERN (Aditya) | |
| Lecture 18 | 11/07/2022 | Exploration and Curiosity Part II | ||
| Lecture 19 | 11/09/2022 | Paper Presentations [slides1, slides2] | Dynamics-Aware Unsupervised Discovery of Skills (Seth), Contrastive Intrinsic Control for Unsupervised Skill Discovery (Harry) | Midterm Report Due |
| Lecture 20 | 11/14/2022 | Learning from Passive Data | ||
| Lecture 21 | 11/16/2022 | Paper Presentations [slides1, slides2] | CQL (Mateo), VIP (Tanmay) | |
| Lecture 22 | 11/21/2022 | Guest Lecture (Abhishek Gupta) | ||
| Lecture 23 | 11/28/2022 | Guest Lecture (Karol Hausman, Keerthana Gopalakrishnan) | ||
| Lecture 24 | 11/30/2022 | Paper Presentations [slides1, slides2, slides3] | Socratic Models (Ellis), Parrot (Neehar), Vision-based Manipulators Need to Also See from Their Hands (Seungchan) | |
| Lecture 25 | 12/05/2022 | Challenges in Embodied Learning | ||
| Lecture 26 | 12/07/2022 | Project Presentations | Project Final Report Due (extended to 12/14) |