CS 549 Learning for Robotics (Bilkent, Fall 2026)

Slides, the kinematics, optimization and motion-planning readings 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-constrained-optimization
• 04-D2-motion-planning

The kinematics reading

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

The optimization reading

Chapter 2, optimization and constrained inverse kinematics, with its companion files and README. The same reading in the browser; its interactive examples open from the reading's links here on the site.

The motion-planning reading

Chapter 3, motion planning, with its companion files and README. The same reading in the browser; its interactive examples open from the reading's links here on the site.

Interactive modules

• The frames module
• The rotations module
• The two-link arm module
• The Gauss-Newton inverse kinematics module
• The KKT explorer
• The sampling module (edge check and RRT on the two-link arm)
• 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.