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Applied Sciences & Engineering AI — Models & Research

6.8210 Spring 2024 Lecture 24: Imitation learning / Foundation models / Course wrap-up

Russ Tedrake

May 13, 2024 82 min

★ ★ ★ ★ ☆ 4/5

Imitation LearningBehavior CloningVisual Motor Policies

Applied Sciences & Engineering Control & Robotics

6.8210 Spring 2024 Lecture 23: Feedback motion planning

Russ Tedrake

May 13, 2024 78 min

★ ★ ★ ★ ☆ 4/5

Feedback Motion PlanningLyapunov FunctionsFunnels

Applied Sciences & Engineering Control & Robotics

6.8210 Spring 2024 Lecture 22: Output feedback

underactuated

May 13, 2024 70 min

★ ★ ★ ★ ☆ 4/5

Output FeedbackControl TheoryState Estimation

Applied Sciences & Engineering Control & Robotics

6.8210 Spring 2024 Lecture 21: Robust Control & Policy Search

underactuated

May 13, 2024 77 min

★ ★ ★ ★ ☆ 4/5

Robust ControlTube MPCH-Infinity

Formal & Physical Sciences Control & Robotics

6.8210 Spring 2024 Lecture 20: Stochastic Control

underactuated

April 29, 2024 78 min

★ ★ ★ ★ ☆ 4/5

Stochastic ControlRobust ControlOptimal Control

Formal & Physical Sciences Mathematics

6.8210 Spring 2024 Lecture 19: Stochastic dynamics

underactuated

April 29, 2024 78 min

★ ★ ★ ★ ☆ 4/5

Stochastic DynamicsDifferential EquationsProbability

Applied Sciences & Engineering Control & Robotics

6.8210 Spring 2024 Lecture 18: Sampling-based (kinodynamic) motion planning

Russ Tedrake

April 29, 2024 80 min

★ ★ ★ ★ ★ 5/5

Motion PlanningSampling-BasedRRT

Applied Sciences & Engineering Mathematics

6.8210 Spring 2024 Lecture 17: Mixed-discrete (combinatorial) and continuous optimization

Russ Tedrake

April 29, 2024 81 min

★ ★ ★ ★ ★ 5/5

OptimizationMixed-Integer ProgrammingRobotics

Applied Sciences & Engineering Control & Robotics

6.8210 Spring 2024 Lecture 16: Humanoid Robots

Russ Tedrake

April 17, 2024 78 min

★ ★ ★ ★ ★ 5/5

Humanoid RobotsModel-Based ControlTrajectory Optimization

Applied Sciences & Engineering Control & Robotics

6.8210 Spring 2024 Lecture 15: Planning + Control Through Contact

underactuated (MIT OpenCourseWare)

April 17, 2024 76 min

★ ★ ★ ★ ☆ 4/5

Underactuated RoboticsLegged LocomotionPoincaré Map

Applied Sciences & Engineering Control & Robotics

6.8210 Spring 2024 Lecture 14: Hybrid Trajectory Optimization

underactuated

April 17, 2024 79 min

★ ★ ★ ★ ★ 5/5

Trajectory OptimizationLegged RobotsLimit Cycles

Formal & Physical Sciences Control & Robotics

6.8210 Spring 2024 Lecture 12: Trajectory Stabilization

underactuated

March 27, 2024 78 min

★ ★ ★ ★ ☆ 4/5

Trajectory OptimizationLQRControl Theory

Applied Sciences & Engineering Control & Robotics

6.8210 Spring 2024 Lecture 11: Trajectory Optimization II

MIT OpenCourseWare

March 27, 2024 82 min

★ ★ ★ ★ ★ 5/5

Trajectory OptimizationDirect CollocationNumerical Methods

Formal & Physical Sciences Control & Robotics

6.8210 Spring 2024 Lecture 10: Trajectory Optimization I

underactuated

March 17, 2024 78 min

★ ★ ★ ★ ★ 5/5

Trajectory OptimizationOptimal ControlQuadratic Programming

Formal & Physical Sciences Control & Robotics

6.8210 Spring 2024 Lecture 9: Computing Lyapunov Functions II

MIT OpenCourseWare / underactuated

March 10, 2024 81 min

★ ★ ★ ★ ☆ 4/5

Lyapunov FunctionsSum of SquaresSemidefinite Programming

Formal & Physical Sciences Control & Robotics

6.8210 Spring 2024 Lecture 8: Computing Lyapunov Functions I

underactuated

March 10, 2024 83 min

★ ★ ★ ★ ☆ 4/5

Lyapunov FunctionsControl TheoryNonlinear Systems

Formal & Physical Sciences Control & Robotics

6.8210 Spring 2024 Lecture 7: Lyapunov Analysis I

underactuated

March 10, 2024 80 min

★ ★ ★ ★ ☆ 4/5

Lyapunov StabilityNonlinear SystemsControl Theory

Formal & Physical Sciences AI — Models & Research

6.8210 Spring 2024 Lecture 6: Dynamic Programming III

Russ Tedrake

March 2, 2024 79 min

★ ★ ★ ★ ★ 5/5

Dynamic ProgrammingReinforcement LearningNeural Networks

Applied Sciences & Engineering Control & Robotics

6.8210 Spring 2024 Lecture 5: Acrobots, Cart-poles, and Quadrotors I

Russ Tedrake

March 2, 2024 81 min

★ ★ ★ ★ ★ 5/5

Underactuated SystemsOptimal ControlAcrobot

Formal & Physical Sciences Mathematics

6.8210 Spring 2024 Lecture 4: Dynamic Programming II

underactuated

March 2, 2024 82 min

★ ★ ★ ★ ☆ 4/5

Dynamic ProgrammingOptimal ControlHamilton-Jacobi-Bellman

Applied Sciences & Engineering Control & Robotics

6.8210 Spring 2024 Lecture 1: Robot dynamics and model-based control

Russ Tedrake

March 1, 2024 85 min

★ ★ ★ ★ ★ 5/5

RoboticsDynamicsControl

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 23: Soft Manipulation and Tactile Sensing

Russ Tedrake

January 3, 2024 71 min

★ ★ ★ ★ ☆ 4/5

Soft RoboticsTactile SensingManipulation

Formal & Physical Sciences AI — News & Applications

6.4210 Fall 2023 Lecture 22: Foundational Models for Decision Making

Boyuan Chen

December 19, 2023 80 min

★ ★ ★ ★ ☆ 4/5

Foundation ModelsDecision MakingLarge Language Models

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 21: Multibody Parameter Estimation

Russ Tedrake

December 19, 2023 77 min

★ ★ ★ ★ ★ 5/5

Multibody DynamicsParameter EstimationSystem Identification

Formal & Physical Sciences AI — Models & Research

6.4210 Fall 2023 Lecture 20: Reinforcement Learning Pt. 2

underactuated

November 30, 2023 79 min

★ ★ ★ ★ ☆ 4/5

Reinforcement LearningPolicy GradientActor-Critic

Formal & Physical Sciences AI — Models & Research

6.4210 Fall 2023 Lecture 19: Reinforcement Learning Pt. 1

Russ Tedrake

November 29, 2023 76 min

★ ★ ★ ★ ☆ 4/5

Reinforcement LearningOptimal ControlRobotics

Formal & Physical Sciences AI — Models & Research

6.4210 Fall 2023 Lecture 18: Visuomotor Policies (via Behavior Cloning)

underactuated

November 29, 2023 78 min

★ ★ ★ ★ ☆ 4/5

Behavior CloningVisuomotor PoliciesImitation Learning

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 17: Deep Perception Pt. 2

underactuated

November 19, 2023 79 min

★ ★ ★ ★ ☆ 4/5

Deep LearningRoboticsPose Estimation

Applied Sciences & Engineering AI — Models & Research

6.4210 Fall 2023 Lecture 16: Deep Perception

Russ Tedrake

November 13, 2023 66 min

★ ★ ★ ★ ☆ 4/5

Deep LearningComputer VisionManipulation

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 15: Manipulator Control

Russ Tedrake

November 1, 2023 77 min

★ ★ ★ ★ ☆ 4/5

Manipulator ControlInverse DynamicsForce Control

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 14: Force Control

underactuated

November 1, 2023 71 min

★ ★ ★ ★ ☆ 4/5

Force ControlImpedance ControlRobotics

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 13: Mobile Manipulation

Russ Tedrake

October 26, 2023 71 min

★ ★ ★ ★ ☆ 4/5

Mobile ManipulationRoboticsPerception

Formal & Physical Sciences Control & Robotics

6.4210 Fall 2023 Lecture 12: Motion Planning- Sampling Based and Global Optimization

Russ Tedrake

October 23, 2023 80 min

★ ★ ★ ★ ★ 5/5

Motion PlanningRRTPRM

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 11: Motion Planning- Optimization Based

underactuated

October 23, 2023 78 min

★ ★ ★ ★ ☆ 4/5

Motion PlanningOptimizationRobotics

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 9: Manipulation in Clutter- Grasp Selection

underactuated

October 20, 2023 79 min

★ ★ ★ ★ ☆ 4/5

Grasp AnalysisManipulationRobotics

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 10: Manipulation in Clutter- Programming Tasks

MIT OpenCourseWare

October 20, 2023 79 min

★ ★ ★ ★ ☆ 4/5

Task-Level PlanningFinite State MachinesRobotics

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 8: Manipulation in Clutter- Contact Simulation

underactuated

October 8, 2023 78 min

★ ★ ★ ★ ☆ 4/5

Contact SimulationManipulationRobotics

Formal & Physical Sciences AI — Models & Research

6.4210 Fall 2023 Lecture 7: Geometric Perception (Pt. 2)

underactuated

October 8, 2023 77 min

★ ★ ★ ★ ☆ 4/5

ICPPoint CloudPerception

Applied Sciences & Engineering Control & Robotics

6.4210 Fall 2023 Lecture 6: Geometric Perception (Pt. 1)

MIT OpenCourseWare

October 8, 2023 78 min

★ ★ ★ ★ ☆ 4/5

PerceptionPoint CloudsDepth Cameras

Formal & Physical Sciences Control & Robotics

6.4210 Fall 2023 Lecture 5: Basic Pick and Place (Pt. 3)

underactuated

September 23, 2023 80 min

★ ★ ★ ★ ☆ 4/5

RoboticsInverse KinematicsOptimization