Robot Learning

Date Lecture Lab Lecturer Homework
23.9.2024 Lec 1: Machine learning 101: model, loss, learning, issues, regression, classification Intro: ML Ales -
30.9.2024 Lec 2: Under the hood of a linear classifier: two-class and multi-class linear classifier on RGB images 1D regression and 2D classification: Revision of the regression and classification theory, analytic gradient computation, gradient in computational graph and loss minimization. Karel -
7.10.2024 Lec 3: Where the hell does the loss come from? MAP and ML estimate, KL divergence and losses. Loss, MLP Ales HW1 - MLP
14.10.2024 Lec 4: Under the hood of auto-differentiation: Vector-Jacobian-Product (VJP) vs chainrule and multiplication of Jacobians, convolutional layer and its VJP Backpropagation Honza -
21.10.2024 Lec 5: The story of the cat’s brain surgery: fully-connected NN + fast backpropagation via Vector-Jacobian-Product (VJP), cortex + convolutional layer Convolutional neural networks Honza HW2 - Autograd
28.10.2024 Independence Day of Czechoslovakia Preparation for midterm test - -
4.11.2024 Midterm test HPC Tutorial Roman -
11.11.2024 Lec 6: Why is learning prone to fail? - Structural issues: layers + issues, batch-norm, drop-out Optimization Karel -
18.11.2024 Lec 7: Why is learning prone to fail? - Optimization issues: optimization vs learning, KL divergence, SGD, momentum, convergence rate, Adagrad, RMSProp, AdamOptimizer, diminishing/exploding gradient, oscillation, double descent Layers Roman HW3 - Segmentation
25.11.2024 Lec 8: Architectures, Transformers Transformers David Č. -
2.12.2024 Lec 9: Transformers Transformers David Č. HW4 - Transformers
9.12.2024 Lec 10: Reinforcement learning: Approximated Q-learning, DQN, DDPG, Derivation of the policy gradient (REINFORCE), A2C, TRPO, PPO, Reward shaping, Inverse RL, Applications, Reinforcement learning I David K. -
16.12.2024 Lec 11: Implicit layers Reinforcement learning II David K. HW5 - RL
6.1.2024 Exam - - -