This is page contains a collection of links that we found useful during our project.
- Learning about iLQR/DDP
- https://studywolf.wordpress.com/2015/11/10/linear-quadratic-regulation-for-non-linear-systems-using-finite-differences/
- https://studywolf.wordpress.com/2016/02/03/the-iterative-linear-quadratic-regulator-method/ <- by far the best explanation, after reading the first link
- Pieter abbeel’s advanced robotics course: slides and lecture vids
- http://rll.berkeley.edu/cs287/lecture_videos/
- Papers: Li and Todorov, Tassa
- Anyone doing real-time control: check out Chris Baker’s slides on robotic software systems, particularly slides on time
- Trajectory optimization in general
- Matt Kelly
- Slides http://www.matthewpeterkelly.com/tutorials/trajectoryOptimization/cartPoleCollocation.svg#frame1089
- Awesome talk based on the slides: https://www.youtube.com/watch?v=wlkRYMVUZTs
- Emo Todorov lecture slides: http://homes.cs.washington.edu/~todorov/courses/amath579/Intro.pdf
- Zico Kolter’s lecture on MPC: video, slides
- Obstacle detection/avoidance: https://www.youtube.com/watch?v=8RbD4X8y65A
- RL
- “Reinforcement learning in robotics: A survey” Peters, Kober 2015
- David Silver (Deepmind) RL course vids: http://www0.cs.ucl.ac.uk/staff/d.silver/web/Teaching.html
- Pieter Abbeel and friends
- Slides linked from homepage: https://people.eecs.berkeley.edu/~pabbeel/
- Deep RL course: http://rll.berkeley.edu/deeprlcourse/#lecture-videos
- Applied Deep Learning (more about how to use tools, instead of theory): http://course.fast.ai/start.html
- Dynamic potential fields: http://homepages.inf.ed.ac.uk/s0565544/DSOClets/ta4-1.pdf
- Learning from demonstration
- ICRA tutorial http://lasa.epfl.ch/tutorialICRA16/
- Code: https://github.com/epfl-lasa/icra-lfd-tutorial
- Slides: https://www.dropbox.com/sh/b5a4hegf9mss7zn/AADsPVyIsdFidFNSDN0qukmLa?dl=0
- “A survey of robot learning from demonstration” Argall, Chernova, Veloso 2009
- Canonical Scan Matcher
- Slides on ICP by Andrea Censi: http://censi.mit.edu/pub/research/2008-icra-plicp-slides.pdf
- Vehicle standards
- http://www.car-engineer.com/the-moose-test-or-vda-test/
- ISO 3888-2:2011
- Misc links
- Matlab equivalents of Eigen functions: https://eigen.tuxfamily.org/dox/AsciiQuickReference.txt
- Linear algebra review - Matrix Cookbook: http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3274/pdf/imm3274.pdf
- Software best practices
- Links
- Design patterns, Anti-patterns, Refactoring: https://sourcemaking.com/
- Idiomatic Python: https://gist.github.com/JeffPaine/6213790
- Best practices: http://robotsforroboticists.com/software-engineering-principles/
- Books
- Clean Code: A Handbook of Agile Software Craftsmanship by Robert C. Martin
- The Pragmatic Programmer by Andrew Hunt
- Principles of Mechanical Design
- Summary slides: http://downloads.deusm.com/designnews/FundamentalDesignPrinciplesKCC10-24-2011.pdf
- Lecture videos (these are awesome!) : http://web.mit.edu/2.75/fundamentals/FUNdaMENTALS.html
