Peking University
Introduction to Embodied AI
Spring 2026

Syllabus

  • Event
    Date
    Topic
    Contents
  • Lecture
    03/02/2026 15:10
    Monday
    Overview

    Overview of Embodied AI

  • Lecture
    03/09/2026 15:10
    Monday
    Basics of Robotics I

    Kinematics of Rigid Bodies and Articulated Objects

  • Lecture
    03/16/2026 15:10
    Monday
    Basics of Robotics II

    Rotation Representation

  • Assignment
    03/18/2026
    Wednesday
    Assignment #1 released
    [Assignment #1]
  • Lecture
    03/23/2026 15:10
    Monday
    Basics of Robotics III

    Motion Planning, Control Algorithms (PD, PID)

  • Lecture
    03/30/2026 15:10
    Monday
    Vision and Grasping I

    6D Object Pose Estimation

  • Due
    04/04/2026 23:59
    Saturday
    Assignment #1 due
  • Lecture
    04/13/2026 15:10
    Monday
    Vision and Grasping II

    Grasping Pose Estimation

  • Assignment
    04/19/2026
    Sunday
    Assignment #2 released
    [Assignment #2]
  • Lecture
    04/20/2026 15:10
    Monday
    Policy Learning I

    Imitation Learning

  • Lecture
    04/27/2026 15:10
    Monday
    Policy Learning II

    Reinforcement Learning

  • Lecture
    05/09/2026 15:10
    Saturday
    Policy Learning III

    Midterm Examination, Reinforcement Learning

  • Lecture
    05/11/2026 15:10
    Monday
    Policy Learning IV

    Diffusion Policy & LLM Based Policy Learning

  • Due
    05/13/2026 23:59
    Wednesday
    Assignment #2 due
  • Lecture
    05/18/2026 15:10
    Monday
    EAI Task I

    Guest Lecture on Humanoid Locomotion & Whole-Body Control, Dr. Jingbo Wang

  • Assignment
    05/22/2026
    Friday
    Assignment #3 released
    [Assignment #3]
  • Lecture
    05/25/2026 15:10
    Monday
    EAI Task II

    VLA and World Action Model

  • Due
    05/31/2026 23:59
    Sunday
    Assignment #3 due
  • Lecture
    06/01/2026 15:10
    Monday
    EAI Task III

    Dexterous Manipulation and Tactile Modality

  • Assignment
    06/01/2026
    Monday
    Assignment #4 released
    [Assignment #4]
  • Lecture
    06/08/2026 15:10
    Monday
    EAI Task IV

    Embodied Navigation

  • Experiment
    06/22/2026 15:10
    Monday
    Real World Experiments

    Real world experiments of Assignment #4 (at PKU-Galbot Joint Lab)