tutorials & lecture notes

A selection of tutorials and lecture notes in robotics, controls, and learning. For tutorials with executable code, click on the “Solutions” link to view the code.

1. Tracking controller for a car with Ackermann steering

   Solutions: Forward Velocity Control, Steering Control

2. Comparative analysis of DDPG and PPO agent performance using distinct reward structures (sparse and dense)

   Solutions: DDPG vs. PPO for different rewards

3. TD Learning

4. Temporal Abstraction

5. Time Discretization in RL

6. Tile Coding