tutorials

A selection of tutorials in robotics, controls, and learning organized by difficulty. In general, a Beginner tutorial requires undergraduate-level knowledge in math, an Intermediate tutorial requires a graduate-level understanding and some domain knowledge, and an Advanced tutorial requires a deep understanding of the subject.

Each tutorial is accessible either as executable code, listed under “Solutions,” or through a dedicated link to a page containing detailed tutorial content.

I. Beginner Level

1. Spectral normalization for a DNN (work in progress)

2. Understanding collisions in MuJoCo (work in progress)

II. Intermediate Level

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. H-Infinity Control (work in progress)

III. Advanced Level