Course Syllabus

The following syllabus is a tentative plan and is subject to change.

Date Topic Slides
August 29 Overview
September 5 No Class
September 12
  • Tools for Robot Learning Research
  • Imitation Learning
  • In-Class Presentation Link

    		•
    September 19
    3D Perception

  • PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space
  • NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis
  • Project Proposal Due

    		•
    September 26
    (Visual) World Modeling

  • Deep Visual Foresight for Planning Robot Motion
  • Fully Body Visual Self-Modeling of Robot Morphologies

    		•
    Otcober 3
    Multimodal Perception

  • More Than a Feeling: Learning to Grasp and Regrasp Using Vision and Touch
  • SonicSense: Object Perception from In-Hand Acoustic Vibration

    		•
    Otcober 10
    Mid-term Project Presentation

  • Mid-term Project Slides Submission Due on Otcober 8

    		•
    Otcober 17
    Self-Supervised Learning

  • Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hours
  • Time-Contrastive Networks: Self-Supervised Learning from Video

    		•
    Otcober 24
    Reinforcement Learning

  • Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning
  • Learning Dexterous In-Hand Manipulation
    		•
    Otcober 31
    Sim-to-Real Transfer Learning

  • Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World
  • Champion-Level Drone Racing using Deep Reinforcement Learning
    		•
    November 7
    Adaptation

  • Learning Robust Perceptive Locomotion for Quadrupedal Robots in the Wild
  • Neural-Fly Enables Rapid Learning for Agile Flight in Strong Winds
    		•
    November 14
    Office Hour on Final Project
    November 21
    Semantic Reasoning through Large Models

  • Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language
  • Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
  • Final Project Presentation Slides Due on December 14
  • Final Project Report and Code Due on December 14


    		•