Series of online lectures and hands-on tutorials organized to familiarize new lab entrants with the fundamental areas of robotics research.
NOTE: For slides/notes/references of almost every topic, please check "Issues". The name of the issue is usually in the format "Topic name - Resources", for example "ROS - resources". Please take a detailed look.
- Microsoft Teams.
- Timings: 3 pm - 4:30 pm (can extend by 30 mins for discussing assignments/quizzes) unless it is explicitly mentioned in the table. (Only starting time is mentioned, it is of duration 1.5 hrs as usual)
- For those with bad internet connectivity, you can watch it later on Microsoft Stream or YouTube. The videos will be available within 3 hours after the session has ended, contact the undersigned only if you aren't able to find the video in the playlist even after 3 hours.
| Dates | Topics | Presenter | Slides |
|---|---|---|---|
| 18/05 | Intro to sessions, Math review (LA) | Ayyappa | Ref: math slides |
| 19/05 | Math review (Calculus & Optimization) | Ayyappa | Ref: math slides |
| 21/05 | Deep Learning 1 | Shashank, Aadil | Ref: DL slides |
| 22/05 | Deep Learning 2 | Shashank, Aadil | Ref: DL slides |
| 23/05 | Deep Learning 3 | Shashank, Aadil | Ref: DL slides |
| 25/05 | Deep Learning 4 (1) | Shashank, Aadil | Ref: DL slides |
| 25/05 | Deep Learning 4 (2) | Abhinav | |
| 26/05 | Deep Learning 5 | Shashank, Aadil | Ref: DL slides |
| 27/05 | ROS | Udit | Ref: ROS slides |
| 29/05 | Rigid Body Transformations & Projective Geometry 1 | Aadil, Aryan | |
| 30/05 | Rigid Body Transformations & Projective Geometry 2 | Aadil, Aryan | |
| 01/06 | Multi-view Geometry 1 | Shubodh, Rahul | Reference |
| 02/06 | Multi-view Geometry 2 | Shubodh, Rahul | ,, |
| 03/06 | Multi-view Geometry 3 | Shubodh, Rahul | ,, |
| 04/06 | Multi-view Geometry 4 | Shubodh, Rahul | ,, |
| 05/06 | Multi-view Geometry 5 | Shubodh, Rahul | ,, |
| 08/06 | State Estimation | Abhinav | |
| 09/06 | SLAM Frontend, SOTA Methods | Prof Madhav, Udit, Shubodh | |
| 10/06 | SLAM Backend, Pose Graph Optimization | Prof Madhav, Udit, Shubodh | |
| 11/06 | Motion Planning & Trajectory Generation 1 | Josyula, Kaustab | searching methods |
| 12/06 | Motion Planning & Trajectory Generation 2 | Josyula, Kaustab | Slides & Papers |
| 13/06 | Motion Planning & Trajectory Generation 3 | Josyula, Kaustab | |
| 15/06 | Dynamics and control 1 | Prof Hari, Prof Spandan, Suraj, Viswa | |
| 16/06 | Dynamics and control 2 | Prof Hari, Prof Spandan, Suraj, Viswa | |
| 17/06 | Dynamics and control 3 | Prof Hari, Prof Spandan, Suraj, Viswa | |
| 18/06 | Dynamics and control 4 | Prof Hari, Prof Spandan, Suraj, Viswa | |
| 20/06 | Visual Servoing 1 | Harish, Pushkal | |
| 22/06 | Visual Servoing 2 | Harish, Pushkal | |
| 24/06 | Reinforcement Learning | kaustab, Kaustubh | Ref: RL slide |
- Math review
- Fundamentals of Linear Algebra, Calculus and Optimization: Vectors, Matrices, Vector and Matrix operations, Important matrices, Matrix decompositions, Gradient, Hessian, Linear and non-linear least squares, Unconstrained optimization methods, Lagrange multipliers.
- Homogeneous coordinates and Rigid Body Transformations
- Homogeneous coordinates, representing lines-points-planes, Fundamental Theorem of Projective Geometry, Rotation matrices, Homogeneous Transformation matrices, Rigid Body transformation, Composition of transformation by current-axis and fixed-axis conventions.
- Geometry of Computer Vision:
- Projective geometry, Camera modelling, Camera Calibration, Epipolar geometry, Triangulation, Resection, Structure from Motion (Bundle Adjustment), Visual odometry.
- State Estimation
- Bayes Filter, Kalman Filter, Extended Kalman Filter.
- Deep Learning
- Basic review of ML and forward propagation, Back Propagation, CNN & Optimization Methods, CNN Architectures, RNNs/LSTMS, object detection, PyTorch Introduction and Coding.
- SLAM, Pose Graph Optimization
- What is SLAM, SOTA Methods, current state of SLAM, Introduction to pose graph optimization.
- Motion Planning and Trajectory Generation
- Robot modelling, Motion Planning overview, Sampling based planning, Variational methods for planning.
- Dynamics and control
- Visual servoing
- Reinforcement Learning
- ROS
- Note: Assignments and/or quizzes are not being held for every topic, check the below tables for more details.
If an assignment is given for a particular concept, we have given a break of 1 day before next concept begins for solving this assignment. Also, the solutions to this assignment will be discussed at the end of next session, for example math review assignment will be discussed at the end of 3rd session (or sometimes at the beginning of the next session in which case the session will start early). But the discussion will be brief for about 30 minutes and you will not be able to follow if you haven't solved the assignment, so please solve it beforehand.
The presenter will confirm the assignment discussion session timings for his specific assignment at the end of his sessions.
Regarding quizzes, they will be at the end of a particular session itself to gauge how much you have learned during that session.
| Assignment No. | Topic |
|---|---|
| 1 | Linear Algebra & Calculus |
| 2 & 3 | Deep Learning |
| 4 | ROS |
| 5 | Transformations |
| 6 | Projective Geometry |
| 7-8 | MVG + BA |
| 9 | State Estimation |
| 10 | Visual Servoing |
For more details like deadlines or link of assignments, check issues.
(At the end of a particular session)
| Quiz No. | Topic |
|---|---|
| 1-4 | Deep Learning |
| 5-6 | Transformations and Projective Geometry |
| 7-8 | MVG |
Check issues for detailed reference list.
- General
Sai Shubodh p.saishubodh@gmail.com
- Maths (Linear Algebra, Calculus)
Ayyappa VVSST vvsst.ayyappa@research.iiit.ac.in
- Deep Learning
S Shashank shashank.s@research.iiit.ac.in
- ROS
Udit Singh Parihar udit.singh@research.iiit.ac.in
- Rigid Body Transformations, Projective Geometry
AadilMehdi Sanchawala aadilmehdi.s@students.iiit.ac.in
Aryan Sakaria aryan.sakaria@students.iiit.ac.in
- Camera Calibration, Multiview Geometry, Bundle Adjustment
Sai Shubodh p.saishubodh@gmail.com
RAHUL SAJNANI rahul.sajnani@research.iiit.ac.in
- State Estimation
Abhinav Gupta abhinav.g@students.iiit.ac.in
- Motion Planning and Trajectory Generation
Josyula Krishna josyula008@gmail.com
Kaustab Pal kaustab21@gmail.com
- Dynamics and control
Suraj suraj2596@gmail.com
Viswanarayan viswanarayanan.vijai@gmail.com
- Visual Servoing
Harish Y V S harish.y@research.iiit.ac.in
Pushkal katarapushkal@gmail.com
- Reinforcement Learning
kaustubh mani kaustubh3095@gmail.com
Announcements will be made through this repo's issues page, so please subscribe to the repo (by clicking the 'watch' button) to receive notifications or you can subscribe to RSS feed if you want to get notified the moment any material/assignment is uploaded.