## Course Schedule

Lecture slides are posted here and on Piazza. All due dates are at 11:59 PM ET.

Date | Lecture | Optional Readings | Logistics | Topic Groups |
---|---|---|---|---|

1/15 | Holiday (MLK Jr. Day) | |||

1/17 | Lecture 1: Course Introduction: What is Robot Learning? [slides] | [Building Machines That Learn and Think Like People] | 🔴 Introduction | |

1/22 | Lecture 2: Robot Learning: An Overview [slides] | [RL Textbook, Ch 1] | 🔴 Introduction | |

1/24 | Lecture 3: ML/DL Refresher Part 1 [slides] | [DL Textbook, Ch 5-10] | HW1 Out | 🟠 ML/DL Refresher |

1/29 | Lecture 4: ML/DL Refresher Part 2 [slides] | [DL Textbook, Ch 5-10] | 🟠 ML/DL Refresher | |

1/31 | Lecture 5: MDP Basics and Imitation Learning Part 1 [slides] | [ICML Tutorial][An Invitation to Imitation] | 🟣 Imitation Learning | |

2/05 | Lecture 6: Imitation Learning Part 2 [slides] | [DAgger][GAIL][Diffusion Policy][Transporter] | 🟣 Imitation Learning | |

2/07 | Lecture 7: RL Basics: Value/Policy Iteration [slides] | [RL Textbook, Ch 3-4][Key Concepts in RL][Kinds of RL Algorithms] | 🟢 Model-Free RL | |

2/12 | Lecture 8: Q-Learning and Variants [slides] | [RL Textbook, Ch 5-7][DQN] | HW1 Due; HW2 Out | 🟢 Model-Free RL |

2/14 | Lecture 9: Policy Gradient Methods [slides] | [RL Textbook, Ch 13][Intro to Policy Gradient] | 🟢 Model-Free RL | |

2/19 | Lecture 10: Actor-Critic Methods [slides] | [RL Textbook, Ch 13] | 🟢 Model-Free RL | |

2/21 | Lecture 11: Advanced RL Algorithms [slides] | [PPO][TRPO][DDPG][SAC] | 🟢 Model-Free RL | |

2/26 | Lecture 12: Model-Based Control Basics [slides] | [Feedback Systems Textbook] | HW2 Due; HW3 Out | 🔵 Model-Based RL |

2/28 | Lecture 13: Optimal Control and Planning Part 1 [slides] | [Murray's Notes][iLQR][DDP][SCP] | 🔵 Model-Based RL | |

3/04 | Spring Break | |||

3/06 | Spring Break | |||

3/11 | Lecture 14: Optimal Control and Planning Part 2 [slides] | [PETS][Neural-Control Family][MPPI][PILCO][MBPO] | 🔵 Model-Based RL | |

3/13 | Lecture 15: Deep Model-Based RL [slides] | [Dreamer][TD-MPC] | HW3 Due; HW4 Out | 🔵 Model-Based RL |

3/18 | Lecture 16: Guest Lecture: Learning Structured World Models From and For Physical Interactions (Yunzhu Li) [slides] | [RoboCook][DynRes][SparseDyn][DPI-Net] | 🔵 Model-Based RL | |

3/20 | Lecture 17: Guest Lecture: Offline RL (Aviral Kumar) [slides] | [NeurIPS Tutorial][IQL][Diffuser] | ⚪ RL from Offline Data | |

3/25 | Lecture 18: Inverse RL [slides] | [Maximum Entropy IRL][LP-IRL] | Project Proposal Due | ⚪ RL from Offline Data |

3/27 | Lecture 19: Bandits and Preference-Based Learning [slides] | [RL Textbook, Ch 2][Dueling Bandits] | 🟡 Bandits and Exploration | |

4/01 | Lecture 20: Exploration [slides] | [Curiosity][RND] | 🟡 Bandits and Exploration | |

4/03 | Lecture 21: Robot Simulation and Sim2Real [slides] | [Domain Randomization][Champion-Level Drone Racing] | 🟤 Specialized Topics | |

4/08 | Lecture 22: Safe RL and Safe Robot Learning [slides] | [Safe Robot Learning Survey][Data-Driven Safety Filters] | HW4 Due | 🟤 Specialized Topics |

4/10 | Lecture 23: Multi-Task/Adaptive/Transferable Robot Learning [slides] | [Teacher-Student][RMA][Neural-Fly] | 🟤 Specialized Topics | |

4/15 | Lecture 24: Guest Lecture: Foundation Models in Robotics (Yafei Hu) [slides] | [Survey][SayCan][CLIPort][RT-1][Code as Policies] | 🟤 Specialized Topics | |

4/17 | Lecture 25: Course Summary [slides] | ⚫ Project | ||

4/22 | Lecture 26: Student Project Presentations | ⚫ Project | ||

4/24 | Lecture 27: Student Project Presentations | ⚫ Project | ||

5/03 | Project Report Due |