One thought on “Lecture 22 Sim2Real and Domain Randomization — CS287-FA19 Advanced Robotics at UC Berkeley

  1. L1 Course Introduction: https://youtu.be/xWPViQ6LI-Q
    L2 MDPs: Exact Methods: https://youtu.be/H_9YQBN45fo
    L3 Discretization of Continuous State Space MDPs: https://youtu.be/mJlAfKc4990
    L4 Function Approximation / Feature-based Representations: https://youtu.be/I0LykEdXDPk
    L5 LQR, iterative LQR / Differential Dynamic Programming: https://youtu.be/S5LavPCJ5vw
    L6 Unconstrained Optimization: https://youtu.be/77dOsZbAGgU
    L7 Constrained Optimization: https://youtu.be/gFewyKcDFXI
    L8 Optimization-based Control: Collocation, Shooting, MPC (basics/foundations): https://youtu.be/ha60pQdepMY
    L9 Optimization-based Control: Collocation, Shooting, MPC, Contact-Invariant Optimization (advanced) — Igor Mordatch: https://youtu.be/pBCVQbZtv78
    L10 Motion Planning: RRT, PRM, Trajopt, 3-d poses: https://youtu.be/ZDuoQRutcfk
    L11 Probability Review, Bayes Filters, Multivariate Gaussians: https://youtu.be/xamzdNUN1o0
    L12 Kalman Filtering, EKF, UKF — Ignasi Clavera: https://youtu.be/eCjffhEeQyw
    L13 Smoother, MAP, Maximum Likelihood, EM, KF parameter estimation: https://youtu.be/qHLLMg0Teg4
    L14 Particle Filters — Wolfram Burgard: https://youtu.be/8k–yWn8_ds
    L15 POMDPs: https://youtu.be/2dNp7QyoF_k
    L17 Imitation Learning — Laura Smith: https://youtu.be/8uQkk-JFHtA
    L18 RL1: Policy Gradients: https://youtu.be/LsKXJl-_kzk
    L19 RL2: Off-policy RL: https://youtu.be/QASqaj_HUZw
    L20 RL3: Model-based RL: https://youtu.be/Y2XBiUtZo1k
    L21 How do simulators work? https://youtu.be/HRp6DH5M7Co
    L22 Sim2Real — Josh Tobin: https://youtu.be/ac_W9IgKX2c
    L23 INDUSTRY: Skydio (drones): Adam Bry/Hayk Martirosyan: https://youtu.be/Yizyv8MpYfg
    L24 Backstories behind how some papers were originated and came together: https://youtu.be/kr6k_SyKsh0
    L25 Autonomous Helicopters and Course Wrap-Up: https://youtu.be/qKZhtYviqSU

    Full Course: https://people.eecs.berkeley.edu/~pabbeel/cs287-fa19/

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