Physical Intelligence
Fall 2025. ESE 6510. Tue / Thu 10:15-11:45. Fagin Hall 118.
Announcements
First day of class.
I will be giving a talk at the Meta workshop on egocentric perception on Aug 25-26. The first day of class will be after the workshop.
Course Overview
Why don’t we yet have a foundation model that can operate robots in the physical world? What makes applying the standard pre-training approach so uniquely challenging in robotics? And what recent advances are pushing the boundaries of what’s possible in real-world applications?
This course offers a structured framework to explore these questions. We will study the mathematical foundations of techniques for learning-based decision-making and examine how these methods are deployed in robotic systems. Through a combination of lectures, hands-on projects (including a drone race!), and guest presentations from leading experts in the field, students will gain a deep understanding of the state-of-the-art decision-making systems and their challenges when applied to robotics.
Prerequisites
This is a graduate-level course. Students are expected to have prior knowledge in deep learning and robotics, such as the topics covered in Robot Learning (ESE 650), Applied Machine Learning (CIS 5190), and Introduction to Robotics (MEAM-520).
Schedule
Foundation
Reinforcement Learning
- SEP 11
- Intro to Reinforcement Learning
- Slides
- SEP 16
- Intro to Reinforcement Learning
- Slides
- SEP 18
- Policy Gradient
- Shulman, Ch. 2.6
- SEP 23
- Policy Gradient (Advantage Estimation)
- Shulman, Ch. 4
- SEP 25
- Tutorial on RL
- Slides
- SEP 30
- Advanced Policy Gradient (TRPO,PPO)
- Shulman, Ch. 3, PPO
- OCT 2
- Policy Gradients and World Models
- Slides
- OCT 7
- Value and Q Learning
- S&B, Ch. 4; Ch. 5(up to 5.5); Ch. 6(6.5,6.7)
Sim2Real
Imitation Learning
Applications and Frontiers
- NOV 4
- Guest Lecture I
- Homanga Bharadhwaj
- NOV 6
- Guest Lecture II
- Rachel Holladay
- NOV 11
- Tutorial on Imitation Learning
- Slides
- NOV 13
- Guest Lecture III
- Yunzhu Li
- NOV 18
- Guest Lecture IV
- Haozhi Qi, Submission Deadline for Race Phase I.
- NOV 20
- Challenges ahead
- Slides
- NOV 25
- The Illusion of Intelligence
- Slides
- NOV 27
- No Class Thanksgiving :turkey:
- DEC 2
- Recitation
- DEC 4
- Race Day (Phase II)
Instructors

Related Courses
Robots that learn, UC Berkeley.
Robotics Manipulation, MIT.
Deep Reinforcement Learning: CMU version UC Berkeley version.
Introduction to Robot Learning, CMU.
Embodied AI Safety, CMU. This course is not only very interesting, but also has an awesome webpage.