Schedule: Fall 2020
Lectures are Tuesday and Thursday 2:30-4:00 (online)
Here is a tentative schedule of lectures, readings, assignments, and final project. Readings and assignments will be added as they become available.
Here is a tentative schedule of lectures, readings, assignments, and final project. Readings and assignments will be added as they become available.
| Monday | Tuesday | Wednesday | Thursday | Friday |
| aug 31 Reg Day |
sep 1 Lec 1: Anatomy of a manipulation system (Reading: Ch. 1 Video: Youtube) |
sep 2 | sep 3 Lec 2: Let's get you a robot (Reading: Ch. 2) Video: Youtube) |
sep 4 |
| sep 7 Labor Day |
sep 8 Lec 3: Basic pick and place (kinematics and grasp selection) (Reading: Ch. 3.0 - 3.4 Video: Youtube) |
sep 9 Due: Problem Set 0 |
sep 10 Lec 4: Basic pick and place (differential kinematics and trajectories) (Reading: Ch. 3.5 - 3.8 Video: Youtube) |
sep 11 |
| sep 14 |
sep 15 Lec 5: Basic pick and place (differential kinematics via optimization) (Reading: Ch. 3.9 - Video: Youtube ) |
sep 16 |
sep 17 Lec 6: Geometric perception (cameras, point clouds, and ICP) (Reading: Ch. 4 - 4.4 Video: Youtube ) |
sep 18 |
| sep 21 Due: Problem Set 1 |
sep 22 Lec 7: Geometric perception (partial views and outliers) (Reading: Ch. 4.5 Video: Youtube ) |
sep 23 |
sep 24 Lec 8: Geometric perception (non-penetration and free-space constraints) (Reading: Ch. 4.6- Video: Youtube ) |
sep 25 |
| sep 28 |
sep 29 Lec 9: Bin Picking (clutter gen) (Reading: Ch. 5- Video: Youtube ) |
sep 30 Due:Problem Set 2 |
oct 1 No Lecture |
oct 2 Add Date |
| oct 5 |
oct 6 Lec 10: Bin Picking (antipodal grasping) (Reading: Ch. 5- Video: Youtube ) |
oct 7 | oct 8 Lec 11: Deep Perception (object recognition / segmentation) (Reading: Ch. 6 Video: Youtube ) |
oct 9 |
| oct 12 Columbus Day | oct 13 Monday classes to be held |
oct 14 Due:Problem Set 3 |
oct 15 Lec 12: Force Control (Reading: Ch. 7 Video: Youtube ) |
oct 16 |
| oct 19 |
oct 20 Lec 13: Force Control (part 2) (Reading: Ch. 7 Video: Youtube ) |
oct 21 |
oct 22 Lec 14: Category-level manipulation (Video: Youtube ) |
oct 23 |
| oct 26 |
oct 27 Lec 15: Motion planning (Reading: Ch. 8 Video: Youtube ) |
oct 28 Due:Problem Set 4 |
oct 29 Lec 16: Motion planning (part II) (Reading: Ch. 8 Video: Youtube ) |
oct 30 |
| nov 2 | nov 3 Project week |
nov 4 |
nov 5 Project week |
nov 6 |
| nov 9 | nov 10 Lec 17: Reinforcement learning for manipulation (part 1) (Video: Youtube ) |
nov 11 Veterans Day |
nov 12 Lec 18: Reinforcement learning for manipulation (part 2) (Video: Youtube ) |
nov 13 |
| nov 16 Due: Problem Set 5 |
nov 17 Lec 19: Parameter Estimation and Adaptive Control (Video: Youtube ) |
nov 18 Drop Date |
nov 19 Lec 20: Tactile sensing/perception/control (Video: Youtube ) |
nov 20 |
| nov 23-27 Thanksgiving Break
|
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| nov 30 Due: Problem Set 6 |
dec 1 Lec 21: Belief-space planning |
dec 2 | dec 3 Lec 22: Task-and-Motion Planning |
dec 4 |
| dec 7 | dec 8 Final project presentations |
dec 9 Last day of classes |
dec 10 | dec 11 |
For questions or comments, email manipulation-staff [AT] mit [DOT] edu.
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