http://ocw.cs.pub.ro/courses/ 2026-07-21T06:05:49+03:00 http://ocw.cs.pub.ro/courses/ http://ocw.cs.pub.ro/courses/lib/tpl/arctic/images/favicon.ico text/html 2026-06-22T19:13:37+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/01?rev=1782144817&do=diff Lab 1: Vehicle digital twin infrastructure demonstrator This lab focuses on the integration of physical automotive hardware with virtual simulation. It uses a bare-metal testing platform bi-directionally synchronized with the CARLA driving simulator to form a “Digital Twin” environment. text/html 2026-06-24T18:34:21+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/02?rev=1782315261&do=diff Lab 2: Renode for MCU Emulation and Validation Duration 2 hours: * 0h30 guided introduction to Renode and the digital-twin workflow; * 1h30 practical firmware exercise using a virtual sensor stream. Learning Objectives After this laboratory, students should be able to: text/html 2026-06-30T14:48:42+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/03?rev=1782820122&do=diff [Lab 3 skel] Duration 2 hours: * 0h30 theoretical introduction to NXP Cup, vehicle dynamics, and PID control; * 1h30 practical tuning and modular firmware development. Learning Objectives After this laboratory, students should be able to: * Explain the data flow in an autonomous line-follower (sensors, control, actuators); * Describe the role of Proportional, Integral, and Derivative terms in a PID controller; * Tune a PID controller experimentally on physical or emulated hardwar… text/html 2026-06-30T12:26:44+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/04?rev=1782811604&do=diff Lab 4: ROS introduction and PD control Part 1: ROS2 Introduction We’ll be using ROS2 (Robot Operating System) throughout this course. ROS2 provides tools, libraries, and conventions that facilitate building robotic applications and allow different parts of the robot to interact with each other. text/html 2026-07-03T23:38:28+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/05?rev=1783111108&do=diff Lab 5: Forward Kinematics Part 1: Intro In order to be able to control the pupper, the first thing we would need is to get the position of the legs. What we are given through the power of ROS magic as an input is the angles of each joint, and by knowing the topology of the robot we can figure out the end position of each leg through the power of linear algebra. text/html 2026-07-03T23:40:55+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/06?rev=1783111255&do=diff Lab 6: Inverse Kinematics and Trajectory Tracking Goal We want to build upon last time's lab, but this time instead of finding out what is the final position as a function of motor values, this time we will be making (or trying at least) a function that takes as input the position and outputs the motor values. We will also play with this function to make the pupper's leg to move in a triangular shape text/html 2026-07-10T20:18:13+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/07?rev=1783703893&do=diff Goal In the previous labs we learned how to compute the position of the foot from the motor angles (forward kinematics) and how to go the other way around, from a desired foot position to the motor angles (inverse kinematics), and we made a single leg follow a triangular trajectory. In this lab we bring everything together: we will make the whole Pupper walk forward by implementing a trotting gait. text/html 2026-07-08T19:29:16+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/08?rev=1783528156&do=diff 1. Lab idea In this lab, you will train a quadruped robot called Pupper in simulation using Reinforcement Learning. The robot will be trained inside NVIDIA Isaac Gym, a GPU-based physics simulator that can run many environments in parallel. Instead of training one robot at a time, we can train hundreds or thousands of simulated robots at the same time. text/html 2026-06-29T12:12:58+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/09?rev=1782724378&do=diff Downloading the llm_lab starter folder For this lab, use the starter archive provided on OCW: [ Download llm_lab.zip ] The original repository contains the ROS2/Pupper files. The archive `llm_lab.zip` adds a simplified sandbox for testing the command pipeline before running it on the real robot. text/html 2026-07-11T19:50:46+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/10?rev=1783788646&do=diff In this lab, Pupper finally gets to use its eyes. You will build a complete perception-to-action pipeline: the camera image goes through an object detector, the detector output feeds a PD controller, and the PD controller makes Pupper walk towards a ball. After that works, you will put the LLM from Lab 9 back in the loop so that Pupper decides what to follow based on natural language, and finally you will use a vision-language model to follow objects that no classic detector knows about. text/html 2026-07-18T02:15:24+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/hackathon?rev=1784330124&do=diff Challenge overview The Internet is unavailable, GPS is jammed, and only a sparse network of BLE gateways remains operational. Your task is to complete the firmware protocol for battery-powered rescue tags that must remain discoverable without broadcasting a permanent identity. text/html 2026-06-28T08:13:05+03:00 http://ocw.cs.pub.ro/courses/rasb/lab/ros2?rev=1782623585&do=diff What is ROS 2? ROS 2 is like the “brain” of a robot. It provides tools, libraries, and conventions that allow different parts of a robot (like sensors, actuators, and decision-making systems) to communicate with each other. Why was ROS 2 created? It’s the successor to ROS 1, with improvements in security, real-time performance, and support for more complex and distributed robotic systems. ROS 2 was built to work better in commercial and industrial environments, where reliability and scalabili…