Peking University
Introduction to Embodied AI
Spring 2025

Syllabus

  • Event
    Date
    Topic
    Contents
  • Lecture
    02/17/2025 15:10
    Monday
    Overview

    Overview of Embodied AI

  • Lecture
    02/24/2025 15:10
    Monday
    Basics of Robotics I

    Kinematics of Rigid Bodies and Articulated Objects

  • Lecture
    03/03/2025 15:10
    Monday
    Basics of Robotics II

    Rotation Representation

  • Assignment
    03/07/2025
    Friday
    Assignment #1 released
    [Assignment #1]
  • Lecture
    03/10/2025 15:10
    Monday
    Basics of Robotics III

    Motion Planning, Control Algorithms (PD, PID)

  • Lecture
    03/17/2025 15:10
    Monday
    Vision and Grasping I

    Instance-Level 6D Object Pose Estimation

  • Due
    03/22/2025 23:59
    Saturday
    Assignment #1 due
  • Lecture
    03/24/2025 15:10
    Monday
    Vision and Grasping II

    Category-Level 6D Object Pose Estimation

  • Lecture
    03/31/2025 15:10
    Monday
    Vision and Grasping III

    Grasping Pose Estimation

  • Lecture
    04/07/2025 15:10
    Monday
    Policy Learning I

    Imitation Learning

  • Lecture
    04/14/2025 15:10
    Monday
    Policy Learning II

    Reinforcement Learning

  • Assignment
    04/14/2025
    Monday
    Assignment #2 released
    [Assignment #2]
  • Lecture
    04/21/2025 15:10
    Monday
    Policy Learning III

    Midterm Examination, Reinforcement Learning

  • Lecture
    04/28/2025 15:10
    Monday
    Robotic Task I

    Legged Robot Locomotion

  • Assignment
    04/30/2025
    Wednesday
    Assignment #3 released
    [Assignment #3]
  • Due
    04/30/2025 23:59
    Wednesday
    Assignment #2 due
  • Lecture
    05/12/2025 15:10
    Monday
    Robotic Task II

    Robotic Gripper Manipulation and Dexterous Hand Manipulation

  • Due
    05/14/2025 23:59
    Wednesday
    Assignment #3 due
  • Lecture
    05/19/2025 15:10
    Monday
    Multimodal LLM in EAI I

    Pretrained Large Models (CLIP) and GPT-4v/4o and other Multimodal LLMs

  • Lecture
    05/26/2025 15:10
    Monday
    Multimodal LLM in EAI II

    Modular General Manipulation System and End-to-end Vision-Language-Action (VLA) Models

  • Experiment
    06/09/2025 15:10
    Monday
    Real World Experiments

    Real world experiments (at PKU-Galbot Joint Lab)