(This schedule is out of date. For the most up-to-date schedule consult the class page on http://learn.illinois.edu)

Date	Week	Day	Class	Topic	Readings	Offline lecture	HW out	HW in
1/26	1	Tu	1	Introduction to robot manipulation	Ch1, Ch2	Lec 1
1/28		Th	2	Coordinate transformations	Ch3, A1	Lec 2	MP1
2/2	2	Tu	3	3D rotations	Ch4	Lec 3
2/4		Th	4	Joint space and Cartesian space	Ch5	Lec 4	MP2	MP1
2/9	3	Tu	5	Inverse kinematics and optimization	Ch6.1,6.5-8, B.3.1	Lec 5-6
2/11		Th	6	Geometry and collision detection	Ch7	Lec 7-8	MP3	MP2
2/16	4	Tu	7	C-space and grid-based planning	Ch8, 9.1,2,4	Lec 9-10
2/18		Th	8	Sampling-based motion planning	Ch10		MP4	MP3
2/23	5	Tu	9	Manipulation planning	Ch12.1,3
2/25		Th	10	Grasp planning	Ch12.2		MP5	MP4
3/2	6	Tu	11	Visual sensing and perception	CVAA 2.1, 12.2
3/4		Th	12	Camera calibration	Ch22		MP6	MP5
3/9	7	Tu	13	Object pose estimation, ICP	CVAA 6.1-2
3/11		Th	14	Introduction to computer vision	CVAA 12.4-5		MP7	MP6
3/16	8	Tu	15	Image-based grasp prediction
3/18		Th	16	Tactile sensing and force control			MP8	MP7
3/23	9	Tu	17	Object recognition	CVAA 4.1,4.3, 14.4
3/25		Th	18	Object segmentation	CVAA 5.2,3,5			MP8
3/30	10	Tu	19	Deep learning
4/1		Th	20	Learning on point clouds
4/6	11	Tu	21	Contact modeling
4/8		Th	22	Wrench space
4/13	12	Tu	—	[BREAK DAY]
4/15		Th	23	Task-and-motion planning	Ch12.4
4/20	13	Tu	24	Manipulation under uncertainty	Ch11.3-4
4/22		Th	25	Reinforcement learning	TBD
4/27	10	Tu	26	End-to-end learning	TBD
4/29		Th	27	Final project presentations
5/4	11	Tu	28	Final project presentations

Offline lecture Youtube playlist

Assignments  

MP1    Introduction to Klampt, coordinates, and transforms
MP2    Forward and inverse kinematics
MP3    Robot, object, and world representations
MP4    Sampling-based motion planning
MP5    Pick and place planning
MP6    Camera calibration with fiducials
MP7    Iterative closest points
MP8    Image-based pick-and-place