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Hao Su authored and Hao Su committed Apr 1, 2024
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171 changes: 171 additions & 0 deletions ml-for-robotics/SP24/cs468.css
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138 changes: 138 additions & 0 deletions ml-for-robotics/SP24/index.html
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<title>CSE291: Machine Learning for Robotics Home Page</title>
<meta http-equiv="Cache-Control" content="no-cache, no-store, must-revalidate" />
<meta http-equiv="Pragma" content="no-cache" />
<meta http-equiv="Expires" content="0" />
<link rel="stylesheet" type="text/css" href="cs468.css">
</head>
<body>
<h1 class="title">Machine Learning for Robotics</h1>
<h2 class="title">Spring 2024</h2>
<div id="content">
<div class="underlinemenu">
<ul>
<li><a href="#info">General Info</a></li>
<li><a href="resources.html">Resources</a></li>
<li><a href="schedule.html">Schedule</a></li>
<li><a href="https://piazza.com/ucsd/spring2024/cse276f">Piazza</a></li>
</ul>
</div>

<h3>Announcements</h3>
<div>
</div>
<br>

<h3 id="info">General Information</h3>

<h4>Times &amp; Places</h4>
<p>TuTh 3:30PM - 4:50PM</p>

<h4>Course Staff</h4>
<table id="hor-minimalist-a">
<thead>
<tr>
<th scope="col"></th>
<th scope="col">Name</th>
<th scope="col">Email</th>
<th scope="col">Office Hours</th>
<th scope="col">Location</th>
</tr>
</thead>
<tbody>
<tr>
<td>Instructor</td>
<td>Hao Su</td>
<td>[email protected]</td>
<td>TBD</td>
<td>TBD</td>
</tr>
<tr>
<td>Co-Instructor</td>
<td>Jiayuan Gu</td>
<td>[email protected]</td>
<td>TBD</td>
<td>TBD</td>
</tr>
<tr>
<td>Co-Instructor</td>
<td>Tongzhou Mu</td>
<td>[email protected]</td>
<td>TBD</td>
<td>TBD</td>
</tr>
<tr>
<td>Co-Instructor</td>
<td>Stone Tao</td>
<td>[email protected]</td>
<td>TBD</td>
<td>TBD</td>
</tr>
<tr>
<td>Course Assistant</td>
<td>Minghua Liu</td>
<td>[email protected]</td>
<td>TBD</td>
<td>TBD</td>
</tr>
</tbody>
</table>

<h4>Overview</h4>
<p>
This is a course for senior undergrads and graduate students, covering core concepts and algorithms in classical robotics and the more modern learning-based methods for robotics. <strong>We assume that the course takers have already taken certain deep learning courses</strong>, and are interested in how to train a robot that can interact with the physical world by machine learning methods. The first half of this course covers basic concepts and algorithms of robotics, and the second half introduces the basic concepts, algorithms, and research trends of reinforcement learning.</p>
<p>
One feature of this course is that, we will instruct the students to build an armed robot in a simulated virtual environment through programming assignments. For the final project, we ask students to compete in a table-top object organization challenge using the built robot.
</p>

<h4>Prerequisites</h4>
<ul>
<li>Strong background in calculus and linear algebra.</li>
<li>Project experience in deep learning.</li>
<li>Familiar with Newtonian mechanics.</li>
<li>Proficient with Python.</li>
<li>Experience in physical simulation is a plus.</li>
</ul>

<h4>Enrollment</h4>
To apply for enrollment, you need to fill in the Google Form at the course announcement page of CSE.

<h4>Grading (tentative)</h4>
The course includes mandatory homeworks, course projects, and optional homeworks. The load of the course will be relatively heavy.


<h4>Syllabus</h4>
<p>
The planned syllabus is as below.
Certain contents may be added or removed based upon the interactions in class and other situations.
</p>
<ul>
<li>Reinforcement Learning
<ul>
<li>Concepts of RL</li>
<li>RL as Optimization</li>
<li>Long-horizon RL</li>
<li>Generalizable RL</li>
</ul>
</li>
<li>Classic Robotics
<ul>
<li>SE(3) Geometry</li>
<li>Robot kinematics</li>
<li>Robot-Object Interaction</li>
<li>Optimal Control</li>
<li>Physical Simulation</li>
</ul>
</li>
</ul>
<hr>

<h4>Acknowledgements</h4>
<p>Thank <a href="https://sapien.ucsd.edu/">Sapien</a> for support.</p>
</div>

</body>
</html>
29 changes: 29 additions & 0 deletions ml-for-robotics/SP24/resources.html
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<!DOCTYPE html>
<html lang="en">

<head>
<meta charset="UTF-8">
<title>Resources</title>
<meta http-equiv="Cache-Control" content="no-cache, no-store, must-revalidate" />
<meta http-equiv="Pragma" content="no-cache" />
<meta http-equiv="Expires" content="0" />
<link rel="stylesheet" type="text/css" href="cs468.css">
</head>

<body>
<h1 class="title">Machine Learning for Robotics</h1>
<div id="content">
<h1 style="text-align:center">Resources</h1>
<div>
<ul>
<li><a href="http://www.cds.caltech.edu/~murray/mlswiki/index.php?title=First_edition">A Mathematical Introduction to Robotic Manipulation</a></li>
<li>Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. Robotics: modelling, planning and control. Springer Science & Business Media, 2010. 35</li>
<li><a href="https://www.davidsilver.uk/teaching/">UCL courses on RL</a>, by David Silver</li>
<li><a href="https://sapien.ucsd.edu/docs/latest/index.html">SAPIEN tutorial and example codes</a>
</li>
</ul>
</div>
</div>
</body>

</html>
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