Published Exam Correction
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Hi, In the exam from Winter 22 Moed B, Q4 (min risk paths) the last question requires an IRIS-like adaptation. The answer stated that we take a MAX over risks. This is a typo and it should be a MIN. Apologies, Oren |
| פורסם ב-3/2/2026, 16:17:52 Created on 3/2/2026, 16:17:52 Создано3/2/2026, 16:17:52 تم النشر ب-3/2/2026, 16:17:52 |
HW4 postponed
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HW4 submission date was postponed to 03/02 end of the day. You can schedule a session with the robots on Sunday, Monday and Tuesday. Tov |
| פורסם ב-28/1/2026, 13:23:51 Created on 28/1/2026, 13:23:51 Создано28/1/2026, 13:23:51 تم النشر ب-28/1/2026, 13:23:51 |
Increase grasping force of the robot
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Hi, I have updated robot_interface.py and set the grasping force to 40N. With a lower value, the gripper sometimes doesn't fully extend. The file is available on git changes: https://github.com/CRL-Technion/ALMP-HW4-Students/commit/5940cb8a373be89495990eb90018bcdb1c906a90 Tov |
| פורסם ב-27/1/2026, 20:59:16 Created on 27/1/2026, 20:59:16 Создано27/1/2026, 20:59:16 تم النشر ب-27/1/2026, 20:59:16 |
Reserve-duty modifications for the exam
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Hi, For reserve duty (groups 2-3), we have the following adaptations in the exam: (1) Any open material is allowed. (2) There will be a multiple-choice quesion consisting of 6 subquestions. You can choose to answer any 3,4,5 questions or all of them. The amount of points given to each question will be in proportion to what you chose to answer. For example, assume the entire question is worth 30 points and each question is worth 5 points. If you chose to answer any 3, each will be worth 10 points. If you chose to answer any 4, each will be worth 7.5 points. If you chose to answer any 5, each will be worth 6 points. Finally, if you chose to answer all 6, each will be worth 5 points. This allows you to focus on what you know while minimizing variance by answering as much questions as you feel comfortable with. |
| פורסם ב-27/1/2026, 17:20:37 Created on 27/1/2026, 17:20:37 Создано27/1/2026, 17:20:37 تم النشر ب-27/1/2026, 17:20:37 |
Solutions to prev exams published
| פורסם ב-26/1/2026, 15:28:40 Created on 26/1/2026, 15:28:40 Создано26/1/2026, 15:28:40 تم النشر ب-26/1/2026, 15:28:40 |
HW4 Code Update and Remarks
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Hi all, I have updated 2 files: 1. Control_robot.py - I commented out two lines that cuased problems when runing your plan 2. Experiment.py - I added rotation parameter to the Transform constructor, it takes into account that the robot base is rotated relative to the evironment's frame Changes can be found here: https://github.com/CRL-Technion/ALMP-HW4-Students/commit/7a3f10ae7cc0191fa8b5e0e163499cc8d610d13e and here https://github.com/CRL-Technion/ALMP-HW4-Students/commit/4cbb6f5733d0c9995c62a29006cbade46ef8eb61 Please notice: 1. use run_json function in live_demo.py to run your plan on the robots 2. When you set relative move the vector is relative to the base frame |
| פורסם ב-26/1/2026, 13:03:13 Created on 26/1/2026, 13:03:13 Создано26/1/2026, 13:03:13 تم النشر ب-26/1/2026, 13:03:13 |
Competition results for HW3
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Competition results for HW3 were published via a pdf in HW3. If the winners want ot share their strategy via a detailed report, that would be great! Nice work everyone, Oren |
| פורסם ב-21/1/2026, 06:21:50 Created on 21/1/2026, 06:21:50 Создано21/1/2026, 06:21:50 تم النشر ب-21/1/2026, 06:21:50 |
HW3 Graded
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Hi guys, HW3 was graded. In general, all submissions were great and I enjoyed reading them - nice job. There were only three reasons points were deducted: (i) General comment for which 3 points were deduced. The report is expected to be informative and readible. Giving unneccesary details such as a precision of 13 digits after the decimal point, not using commas in numbers larger than 999, does not allow to focus on the essence. Similarly, not using punctuation marks, inconsistent formatting makes the report hard to read. (ii) When analyzing plots sometimes the explanations were innadequate for which 4 points were deduced (typically for the RRT). (iiI) If no results were given for 0.7 IP coverage 10 points were deduced . Grades were either 100, 97, 93 or 90 so it is self evident why points were deduced. |
| פורסם ב-21/1/2026, 06:18:10 Created on 21/1/2026, 06:18:10 Создано21/1/2026, 06:18:10 تم النشر ب-21/1/2026, 06:18:10 |
Lab hours
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Hi all, next week you can come to the lab on: Sunday 16:30 - 17:30 Monday 09:30 - 14:30 Tuesday 10:30 - 14:30 Wednesday 10:00 - 13:30 Please create calendar event and send an invite to me. Tov |
| עדכון אחרון ב-20/1/2026, 18:49:27 Last updated on 20/1/2026, 18:49:27 Последняя модификация20/1/2026, 18:49:27 تمت الحتلنة الأخيرة ب-20/1/2026, 18:49:27 |
HW4 - using the robots
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Higuys, Tov informed me that not a lot pf groups apprpooched him. He is trying his best to maximise his availability but don'r assume that he will be there right before the deadline. The responsibility for making sure you have slots on the real robots are YOURS. Best, Oren |
| פורסם ב-19/1/2026, 12:51:04 Created on 19/1/2026, 12:51:04 Создано19/1/2026, 12:51:04 تم النشر ب-19/1/2026, 12:51:04 |
HW4 code in git was updated
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Experiment.py and environment.py were updated, changes are shown here: https://github.com/CRL-Technion/ALMP-HW4-Students/commit/389b54f59a16ce1fb654c48f4032b84a801ada93 Tov |
| פורסם ב-18/1/2026, 23:02:42 Created on 18/1/2026, 23:02:42 Создано18/1/2026, 23:02:42 تم النشر ب-18/1/2026, 23:02:42 |
HW4 postponed
| HW4 submission date was postpone to 29/1 |
| פורסם ב-18/1/2026, 15:21:53 Created on 18/1/2026, 15:21:53 Создано18/1/2026, 15:21:53 تم النشر ب-18/1/2026, 15:21:53 |
Exams uploaded
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Two example exams were uploaded to the course material. Oren |
| פורסם ב-13/1/2026, 11:56:01 Created on 13/1/2026, 11:56:01 Создано13/1/2026, 11:56:01 تم النشر ب-13/1/2026, 11:56:01 |
Update on HW3
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1. Submission is postponed to Thursday 8.01.26 (tomorrow) 2. Inspection planning competition is based both on computation time and execution time |
| פורסם ב-7/1/2026, 12:54:27 Created on 7/1/2026, 12:54:27 Создано7/1/2026, 12:54:27 تم النشر ب-7/1/2026, 12:54:27 |
Lab meeting tomorrow
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Hi all, Following students’ requests, I am available tomorrow until 15:20. Those of you who want to reschedule please write me an email. Tov |
| פורסם ב-4/1/2026, 14:37:45 Created on 4/1/2026, 14:37:45 Создано4/1/2026, 14:37:45 تم النشر ب-4/1/2026, 14:37:45 |
HW4 published
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HW4 published, due date 25.1.26. For any questions, reach out to Tov, ustovatcampus.technion.ac.il. |
| פורסם ב-3/1/2026, 23:07:00 Created on 3/1/2026, 23:07:00 Создано3/1/2026, 23:07:00 تم النشر ب-3/1/2026, 23:07:00 |
HW3 section 3.2 clarification
| Following students' questions, we added a guidance paragraph to section 3.2 3D RRT*. The changes are highlighted in pink. |
| פורסם ב-3/1/2026, 20:50:46 Created on 3/1/2026, 20:50:46 Создано3/1/2026, 20:50:46 تم النشر ب-3/1/2026, 20:50:46 |
Tomorrow's lab meeting canceled
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Unfortunately, we cannot meet tomorrow at 16:30 in the lab. To test your path for HW3 on the robots, please contact me to schedule a session on Monday, Tuesday, or Wednesday. ustovatcampus.technion.ac.il Tov |
| פורסם ב-3/1/2026, 20:34:22 Created on 3/1/2026, 20:34:22 Создано3/1/2026, 20:34:22 تم النشر ب-3/1/2026, 20:34:22 |
HW3 postponed
| Following student requests, HW 3 is postponed until Wednesday end of day 07/01/26. |
| עדכון אחרון ב-1/1/2026, 16:33:43 Last updated on 1/1/2026, 16:33:43 Последняя модификация1/1/2026, 16:33:43 تمت الحتلنة الأخيرة ب-1/1/2026, 16:33:43 |
HW2 Graded
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I fanally got around to grade HW2. As I said in class - sorry for the delay... In general, everything was great, nice job! I uploaded a list of IDs together with labels why points were deduced as well as an explanation of each label. Reach out to me if something is unclear. Oren |
| פורסם ב-30/12/2025, 08:18:25 Created on 30/12/2025, 08:18:25 Создано30/12/2025, 08:18:25 تم النشر ب-30/12/2025, 08:18:25 |
Updated version of HW3 was published
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Updated version of HW3 was published, changes are highlighted in yellow. Some students asked me about the relevant environment for section 2.2.1, please look in the pdf for clarification. Tov |
| עדכון אחרון ב-29/12/2025, 21:24:45 Last updated on 29/12/2025, 21:24:45 Последняя модификация29/12/2025, 21:24:45 تمت الحتلنة الأخيرة ب-29/12/2025, 21:24:45 |
Clarification on HW3 changes in the code
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Clarification on HW3 changes in the code. Visit the link bellow to see the changes: https://github.com/CRL-Technion/ALMP-HW3-Students/commit/5035ef35df926484d88b170d0b7d617f02bb1f9e |
| פורסם ב-29/12/2025, 15:41:52 Created on 29/12/2025, 15:41:52 Создано29/12/2025, 15:41:52 تم النشر ب-29/12/2025, 15:41:52 |
The code for HW3 was updated
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Hi all, Some typos were fixed and missing method was added. You are welcome to download the code from the repository, there is new commit. |
| פורסם ב-28/12/2025, 22:25:13 Created on 28/12/2025, 22:25:13 Создано28/12/2025, 22:25:13 تم النشر ب-28/12/2025, 22:25:13 |
Lab meeting for HW4
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Next Sunday (28.12) we will have a lab meeting (i.e., 16:30 - 17:30, right after class) where we will get acquainted with the robots. Please make sure to be present - you won't be able to work on the robots without attending the meeting. |
| עדכון אחרון ב-28/12/2025, 22:22:32 Last updated on 28/12/2025, 22:22:32 Последняя модификация28/12/2025, 22:22:32 تمت الحتلنة الأخيرة ب-28/12/2025, 22:22:32 |
HW3 published
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HW3 published, due date 04.01. For any questions, reach out to Tov Balli, our TA - ustovatcampus.technion.ac.il. |
| פורסם ב-16/12/2025, 15:51:04 Created on 16/12/2025, 15:51:04 Создано16/12/2025, 15:51:04 تم النشر ب-16/12/2025, 15:51:04 |
HW1 Graded
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Some notes: (1) Some students submitted in singles: please group as pairs for second HW. Subnmission in singles will not be accepted. (2) Some students did not submit. Please reach out to me to explain why. I would hate to give you a zero. (3) Points deduced followed a key. I added a file with IDs + explanations to the HW. If you want to discuss anything - simply reach out to me. Oren |
| עדכון אחרון ב-9/12/2025, 16:45:39 Last updated on 9/12/2025, 16:45:39 Последняя модификация9/12/2025, 16:45:39 تمت الحتلنة الأخيرة ب-9/12/2025, 16:45:39 |
HW2 Postponed
| Following student requests, HW 2 is postponed until Mon end of day. |
| פורסם ב-9/12/2025, 16:25:15 Created on 9/12/2025, 16:25:15 Создано9/12/2025, 16:25:15 تم النشر ب-9/12/2025, 16:25:15 |
Slides on homotopy classes uploaded
| פורסם ב-7/12/2025, 21:35:56 Created on 7/12/2025, 21:35:56 Создано7/12/2025, 21:35:56 تم النشر ب-7/12/2025, 21:35:56 |
New exercise_5_graph.py for HW2
| The file exercise_5_graph.py was updated in HW2 code |
| עדכון אחרון ב-6/12/2025, 21:31:07 Last updated on 6/12/2025, 21:31:07 Последняя модификация6/12/2025, 21:31:07 تمت الحتلنة الأخيرة ب-6/12/2025, 21:31:07 |
New version of HW2 is on
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Changes in yellow. The goal configuration in section 4.3 was updated (as in your code) |
| פורסם ב-30/11/2025, 23:30:02 Created on 30/11/2025, 23:30:02 Создано30/11/2025, 23:30:02 تم النشر ب-30/11/2025, 23:30:02 |
HW submission format
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Please submit one Zip titled as HW_X_ID1_ID2 which includes the pdf + source code in all your HW submissions. Here X is the HW number and ID1 and ID2 are your student IDs. |
| פורסם ב-26/11/2025, 08:29:23 Created on 26/11/2025, 08:29:23 Создано26/11/2025, 08:29:23 تم النشر ب-26/11/2025, 08:29:23 |
HW2 published
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HW2 published, due date 11.12. For any questions, reach out to Tov Bali, our TA - ustovatcampus.technion.ac.il. |
| פורסם ב-24/11/2025, 10:59:33 Created on 24/11/2025, 10:59:33 Создано24/11/2025, 10:59:33 تم النشر ب-24/11/2025, 10:59:33 |
CS Colloquium - Micha Sharir (TAU)
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We are honoured to host Micha Sharir, the winner of the 2025 Knuth prize for "seminal contributions to computational and discrete geometry, the development of algorithmic motion planning, transforming the field of computational geometry, and inspiring generations of researchers.” Speaker: Micha Sharir (TAU) Date: Tuesday, January 6th Time: 14:30-15:30 Location: Taub 337 Title: Computational Geometry: Per Aspera Ad Astra Abstract: I will present an overview of some topics in computational (and combinatorial, and a bit algebraic) geometry, that constitute milestones in the work in this area by myself and by many colleagues and (former) students in the past 45 years. The topics include, as time permits, algorithmic motion planning, arrangements, lower envelopes, incidences, space decomposition, polynomial partitioning, and more. Bio: Micha Sharir received his Ph.D. in Mathematics from Tel Aviv University in 1976, and then switched to Computer Science, doing his postdoctoral studies at the Courant Institute of New York University. He returned to Tel Aviv University in 1980, and has been there, at the School of Computer Science, ever since. He is also a visiting research professor at the Courant Institute, where he has been the deputy head of the Robotics Lab (1985-89). He has served as the head of the Computer Science Department (twice) and as the head of the School of Mathematics (1997-99). He is one of the co-founders of the Minerva Center for Geometry at Tel Aviv University. His research interests are in computational and combinatorial geometry and their applications. He has pioneered (with Jack Schwartz) the study of algorithmic motion planning in robotics during the early 1980s, and has been involved in many fundamental research studies that have helped to shape the fields of computational and combinatorial geometry. Among his major achievements, in addition to his earlier work on robotics, are the study of Davenport-Schinzel sequences and their numerous geometric applications, the study of geometric arrangements and their applications, efficient algorithms in geometric optimization (including the introduction and analysis of generalized linear programming), and the study of combinatorial problems involving point configurations, including, since 2008, the application of algebraic techniques to problems involving incidences, distinct and repeated distances, and other related problems in combinatorial and computational geometry. His work won him several prizes, including a Max-Planck research prize (1992, jointly with Emo Welzl), the Feher Prize (1999), the Mif'al Hapais' Landau Prize (2002), and the EMET Prize (2007). He is the incumbent of the Nizri Chair in computational geometry and robotics, a Fellow of the Association for Computing Machinery (since 1997), has an honorary doctorate degree from the University of Utrecht (1996), and is a member of the Israeli Academy of Sciences and Humanities (2018). He has supervised 27 Ph.D. students, many of which are now at various stages of an academic career, in Israel and abroad. |
| פורסם ב-24/11/2025, 09:39:18 Created on 24/11/2025, 09:39:18 Создано24/11/2025, 09:39:18 تم النشر ب-24/11/2025, 09:39:18 |
HW1 published
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HW1 published, due date 27.11. For any questions, reach out to Tov Bali, our TA - ustovatcampus.technion.ac.il. |
| פורסם ב-10/11/2025, 14:21:23 Created on 10/11/2025, 14:21:23 Создано10/11/2025, 14:21:23 تم النشر ب-10/11/2025, 14:21:23 |