Schedule:
Date | Topic | Chapter | Exercises | ||
1 | April 2 18:00-19:00 |
Discrete time control dynamic programming Bellman equation |
Bertsekas 2-5, 13-14, 18, 21-32 (2nd ed.) Bertsekas 2-5, 10-12, 16-27, 30-32 (1nd ed.) Kappen ICML tutorial 1.2 slides up to 34 |
Ex: Verify that J0(1)=2.7 and J0(2)=2.818 in Bertsekas Example 3.2 on pg. 23 in Copies 1b | |
2 | April 2 19:00-20:00 |
Continuous time control Hamilton-Jacobi-Bellman Equation Pontryagin Minimum Principle Stochastic differential equations Stochastic optimal control LQ examples, Portfolio management |
Kappen ICML tutorial 1.3,1.4 slides up to 59 |
extra exercise 2a,b |
|
3 | April 4 16:00-17:00 |
Path integral control theory |
Kappen ICML tutorial 1.5, 1.6, 1.7 slides up to 93 | extra exercise 2c, 3 | |
4 | April 4 17:00-18:00 |
Path integral control theory MC Sampling solution Numerical examples (particle in a box, N joint arm, Robot learning) |
Kappen ICML tutorial 1.7 slides up to 127 |
extra exercise 4,5 Matlab code for n joint problem See below. |