Lectures - Spring 2026
Course Reader (.pdf)
Lectures, MT, MPs
| W | Tues | Topic | Thurs | Topic | Fri | Lab | Notes |
|---|---|---|---|---|---|---|---|
| 1 | 01/20 | Intro, automata, safety, requirements
slides |
01/22 | Verification, reachability, invariance
slides |
01/23 | Intro, MP0 out slides | MP0 out |
| 2 | 01/27 | Reachability, inductive invariants, cex slides | 01/29 | Neuralnets, forward prop, loss, gradient descent slides | 01/30 | Team up, MP1 out | MP1 out |
| 3 | 02/03 | Backprop, grad implosion, coordinate transforms, SO3 slides | 02/05 | Camera intrinsic, extrinsic, RQ, calibration slides | 02/06 | MP0 due | - |
| 4 | 02/10 | Visual odometry, epipolar geometry, RANSAC slides | 02/12 | ODE solutions, bang-bang, PID control slides | 02/13 | MP2 out | MP2 out |
| 5 | 02/17 | GEM Field Trip (meet at the highbay facility) | 02/19 | F1tenth, GRAIC, and Drones overview | 02/20 | MP1 due | - |
| 6 | 02/24 | Review Session | 02/26 | Midterm 1 | 02/27 | ||
| 7 | 03/03 | PID, LTI, Hurwitz slides | 03/05 | Stability, Lyapunov functions, invariance slides | 03/06 | MP2 due | |
| 8 | 03/10 | LMIs, Filtering, Markov property, conditional independence slides | 03/12 | Project review | 03/13 | MP3 out | - |
| 03/16 (Mon) | Spring break | ||||||
| 03/22 (Sun) | Spring break | ||||||
| 9 | 03/24 | Filtering 1: Markov chains, conditional probability, motion models (slides) | 03/26 | Filtering 2: localization bayes filter, histogram filter, beliefs slides | 03/27 | Open Lab | - |
| 10 | 03/31 | Review Session | 04/02 | Miderm 2 | 04/03 | - | |
| 11 | 04/07 | Filtering 3: Kalman filter, localization particle filter, importance sampling (slides) | 04/09 | Filtering 4: review; SLAM (slides) | 04/10 | MP3 due | - |
| 12 | 04/14 | Planning 1: graph search, uniform cost search (slides) | 04/16 | Planning 2: A*, optimal search, cost-to-go heuristics (slides) | 04/17 | - | |
| 13 | 04/21 | Planning 3: hybrid A*, PRM, probabilistic completeness (slides) | 04/23 | Planning 4: RRT, RRG, asymptotic optimality (slides) | 04/24 | - | - |
| 15 | 04/28 | Guest Lecture | 04/30 | Review Session | 05/01 | - | - |
| 15 | 05/05 | Midterm 3 | Last class | ||||
| 05/07 | Reading day | ||||||
| 05/08 | Final exam week; Final presentation/demo | ||||||
Friday Labs
| Session | TA | CA |
|---|---|---|
| AB1 (9am-10am) | Fatemeh | |
| AB2 (10am-11am) | James | |
| AB3 (11am-12pm) | Will | |
| AB4 (12pm-1pm) | Alex | |
| AB5 (1pm-2pm) | Hanna | |
| AB6 (4pm-5pm) | Abhishek |
Office Hours
All TA Office Hours will be held in ECEB 5072 lab.
| Day | Time | TA |
|---|---|---|
| Tuesday | 5-6PM | Will |
| Wednesday | 11am-12PM | Abhishek |
| Thursday | 10-11AM | James |
| Thursday | 6-7PM | Hanna |