Recitations
2024
Recitations
| Recitation # |
Topics |
Materials |
| 1 |
Linear Systems, Taylor Series |
video, slides |
| 2 |
Derivatives, Constrained Optimization |
video, slides |
| 3 |
KKT Conditions, Augmented Lagrangian |
video, slides |
| 4 |
Intro to LQR and Convex.jl |
video, slides |
| 5 |
Dynamic Programming and MPC |
video, slides |
| 6 |
Trajectory Optimization |
video, slides |
| 7 |
Attitude Part 1 |
video, slides |
| 8 |
Attitude Part 2 |
video, slides |
| 9 |
Sparse Trajectory Optimization |
video, slides |
Useful Links
Youtube recitation playlist
Github Repo
2023 (last year)
Recitations
| Recitation # |
Topics |
Materials |
| 1 |
Linear Systems, Derivatives, Taylor Series |
video, slides |
| 2 |
Newton's method, constrained optimization |
video, slides |
| 3 |
KKT Conditions, Augmented Lagrangian |
video, slides |
| 4 |
Intro to LQR |
video, slides |
| 5 |
HW1 review, Convex.jl tutorial |
video, code |
| 6 |
MPC, HW2 |
video, slides, code |
| 7 |
Rotation Matrices, Quaternions, Planning with Attitude |
video, slides |
| 8 |
LQR, Discretization, Linearization |
video, slides, code |
| 9 |
DIRCOL, iLQR, HW3 |
video, slides |
| 10 |
Differentiable Collision Detection |
video, slides, code |
Useful Links
Youtube recitation playlist
Github Repo