Autonomous Driving (M3621.000300) Fall 2024

Course Information

  • Instructors: Prof. Songhwai Oh, Prof. Jungwoo Lee, Prof. Sungroh Yoon
  • Course Number: M3621.000300
  • Time: M/W 1:30-3:20PM
  • Location: Room 303, Building 301 (later in Room 401, Building 300)

Course Description

This graduate-level course provides a comprehensive introduction to the theory and practices in autonomous driving. Autonomous driving technology is a key aspect of various automotive and mobility applications. The course covers essential topics for autonomous driving, including sensing, deep learning, decision making, reinforcement learning, and path planning. In addition, the course also provides students with an opportunity to build autonomous systems and apply theoretical knowledge to practical real-world problems.

Announcements

RC Car Racing Contest

Schedule

  • Week 1

    • 09/02: Introduction
    • 09/04:Deep learning (DL) history and introduction

  • Week 2

    • 09/09: ML basics – Linear regression
    • 09/11: Classification

  • Week 3

    • 09/16: (Thanksgiving Holiday) Generalized Linear Models (GLM)
    • 09/18: (Thanksgiving Holiday) Lab - RC Car Hardware Assembly

  • Week 4

    • 09/23: Introduction to deep learning
    • 09/25: Lab - VESC setup

  • Week 5

    • 09/30: Artificial neural network
    • 10/02: Lab - Jetson Xavier NX board setup

  • Week 6

    • 10/07: Computer vision models
    • 10/09: (Holiday) Lab

  • Week 7

    • 10/14: Sequence models
    • 10/16: Lab - Keyboard Control with ROS 2

  • Week 8

    • 10/21: Markov decision processes, Reinforcement learning (RL)
    • 10/23: Midterm

  • Week 9

    • 10/28: Behavior cloning 
    • 10/30: Lab - Introduction to F1TENTH simulator

  • Week 10

    • 11/04: Soft MDP, Sparse MDP, DQN
    • 11/06: Lab - RC Car Calibration

  • Week 11

    • 11/11: TRPO, PPO, Maximum entropy RL
    • 11/13: Lab - Imitation Learning (Simulation)

  • Week 12

    • 11/18: Inverse RL (IRL), Maximum entropy IRL
    • 11/20: Lab - Imitation Learning (Real)

  • Week 13

    • 11/25: Survey: Autonomous driving 
    • 11/27: Lab - Reinforcement Learning 1: PPO / SAC (Simulation)

  • Week 14

    • 12/02: Lab - Reinforcement Learning (Real)
    • 12/04: Lab - Reinforcement Learning (Real)

  • Week 15

    • 12/09: Racing Contest
    • 12/11: Racing Contest

References