CS 549 Learning for Robotics (Bilkent, Fall 2026)

Slides, the kinematics reading and interactive demonstrations. Assignments and announcements are on Moodle. The source of this site is github.com/Oz-Oguz/cs549-materials.

Slides

• 01-D1-intro-and-the-stack
• 02-D1-learning-overlay-and-frames
• 02-D2-transforms-fk-jacobian
• 03-D1-optimization-1
• 04-D1-constraints-and-komo

The kinematics reading

chapter-01.pdf, with its companion files and README. The Drake demonstrations in it are optional enrichment.

Interactive modules

• The frames module
• The rotations module
• The two-link arm module
• The Gauss-Newton inverse kinematics module
• The KKT explorer
• The optimization explorer

The slides' "run it live" buttons open these modules here, already set to the slide's example.

Drake demonstrations

Ten slide buttons run a robot arm in Python on your own computer. The demonstrations guide says how to install them once and run each one; those buttons open it.

© 2026 Özgür S. Öğüz, Bilkent University. Licensed under CC BY 4.0: use and adapt these materials freely, but credit the source as described in `LICENSE.md`. The FR3 robot model inside the reading package keeps its own Apache 2.0 license and notice.