tutorials & lecture notes

A selection of tutorials and lecture notes 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.

For tutorials with executable code, click on the “Solutions” link to view the code.

A. Beginner Level

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

1. Inertia vs. Scaled Inertia in MuJoCo (work in progress)

B. 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. TD Learning

C. Advanced Level