Assignment 1

Exercises are taken from the textbook chapters. Maximum score for this problem set is 55 points and the due date is Friday, February 26, 2021.

• Exercise 1.1: (a) 2 points, (b) 2 points, (c) 2 points.
• Exercise 1.2: (a) 2 points, (b) 3 points, (c) 3 points.
• Exercise 2.2: (a) 2 points, (b) 2 points, (c) 3 points.
• Exercise 2.5: (a) 2 points, (b) 3 points, (c) 8 points.
• Exercise 2.6: (a) 1 points, (b) 2 points, (c) 2 points, (d) 6 points.
• Exercise 2.7: (a) 5 points, (b) 1 points, (c) 2 points, (d) 2 points.
• Survey: Please fill out this survey. You will get a code after submission, which you need to enter into Gradescope.

Feel free to have a look at the remaining exercises in Chapters 1 and 2 of the textbook!

Parts of Exercises 2.5, 2.6 and 2.7 are coding problems. You can work directly in Colab. Once you are satisfied with your work, download the final version of the notebook and upload it to Gradescope. If you do not have a Gradescope account, you will be required to create one. Please use your @mit.edu email to register. Then look for class 6.832 Underactuated Robotics, and join using the access code we provided in Piazza.

You will have to make two submissions for this problem set:

• Problem Set 1, Written Submission. A scanned pdf of your answers to the written questions.
• Problem Set 1, Notebook Submission. The final version of your notebook vibrating_pendulum.ipynb, hopfield_network.ipynb, and learning_dynamics.ipynb (downloaded from Colab). Please double check that the notebook you are submitting has exactly this name.

In our testing, Gradescope will give you a grade from autograder. You can resubmit as many times as you like before the deadline.