Lecture 1
Lecture 1
IPRL
Team
Instructors
Jeannette Bohg Marco Pavone Dorsa Sadigh
Assistant Associate Assistant
Professor CS Professor AA, Professor CS
and CS/EE (by and EE
courtesy)
CAs
Annie Xie Yilun Hao
Head CA
Astrobee - NASA
Informa(on Trajectory
extrac(on execu(on
actuator
raw data commands
See-think-act
Sensing Actua(on
Real world
environment
• And how should the robot reason when interacting with other
decision-making agents?
• Requirements
• AA 174A / AA 274A / CS 237A / EE 260A
• CS 106A or equivalent, CS106B highly recommended
• CME 100 or equivalent (for linear algebra)
• CME 106 or equivalent (for probability theory)
• Courses at Stanford
• EE 104: Introduction to Machine Learning
• CS 229: Machine Learning
• Reference
• Hastie, Tibshirani, and Friedman: The elements of statistical learning: data
mining, inference, and prediction (2009). Available here:
https://web.stanford.edu/~hastie/ElemStatLearn/
Parametric
models
Non-parametric
models
Hyperparameter regularization:
2 3 2 32 3
y1 1 x1 x21 ... xm1 a0
6 y2 7 6 1 x2 x22 ... x2 7 6 a1 7
m7 6
6 7 6 7
6 y3 7 6 1 x3 x23 ... xm 7 6 a 7
6 7⇡6 3 76 27
6 .. 7 6 .. .. .. .. 7 6 .. 7
4 . 5 4. . . . 54 . 5
yn 1 xn x2n ... xm
n am
Human
Ingenuity
Gradient
Descent
y1i = f (xi w1 + b1 )
y2i = f (xi w2 + b2 )
y = f (xW + b)
y3i = f (xi w3 + b3 )
i i
y4 = f (x w4 + b4 )
h1 = f1 (xW1 + b1 )
h2 = f2 (h1 W2 + b2 )
y = f3 (h2 W3 + b3 )
Secret theme:
All of these
functions are super
easy to differentiate
Dropout:
(randomly zero out some
neurons each pass)
http://playground.tensorflow.org/