CSC144V - Algorithms and Systems for Autonomous Vehicles

Hofstra University, Fall 2026

Instructor: Zonghua Gu

Lectures

Date	Lecture Notes	Topics	Additional Readings (Optional)
W1	L0 Course Overview, PPTX, PDF L1.1 Introduction and Overview PPTX, PDF L1.1 Exercises, PPTX, PDF L1.1 Quiz, ANS L1.2 AV Sensors V2X HD Maps PPTX, PDF L1.2 Exercises, PPTX, PDF L1.2 Quiz, ANS	Background, history, AD processing pipeline, Sensors and perception, V2X, HD maps	What is an Autonomous Vehicle: A Comprehensive Guide to its Engineering Principles and Applications
W2	L1.3 HWSW Platforms Ethics PPTX, PDF L1.3 Exercises, PPTX, PDF L1.3 Quiz, ANS	HW platforms, SW platforms, Ethical issues	The Truth About Self Driving Cars by New Mind (YouTube) Self-Driving Cars, 2022, Uni Bonn (YouTube) Self-Driving Cars, 2022, Uni Tuebingen (YouTube playlist)
W2	L2.1 Intro to Machine Learning PPTX, PDF L2.1 Exercises, PPTX, PDF L2.1 Quiz, ANS L2.2 Intro to Neural Networks, PPTX, PDF L2.2 Exercises, PPTX, PDF L2.2 Quiz, ANS	Activation functions, Cross-Entropy Loss, SoftMax, ROC and AUC, NN training issues
W3	L3 Convolutional Neural Networks PPTX, PDF L3 Exercises, PPTX, PDF L3 Quiz, ANS	Intro to CNN, case studies (LeNet, AlexNet, VGGNet, GooLeNet, ResNet...)	UC Berkeley CS231n Convolutional Neural Networks for Visual Recognition Introduction to Convolutional Neural Networks by Animated AI (YouTube) Convolutional Neural Networks \| CNN \| Kernel \| Stride \| Padding \| Pooling \| Flatten \| Formula (YouTube) Essentials of Object Detection by Kapil Sachdeva (YouTube)
W4-6	L4.1 Adversarial Attacks PPTX, PDF L4.1 Exercises, PPTX, PDF L4.1 Quiz, ANS L4.2 Adversarial Attacks for AD PPTX, PDF L4.2 Exercises, PPTX, PDF L4.2 Quiz, ANS L4.3 Latency and Availability Attacks for AD PPTX, PDF L4.3 Exercises, PPTX, PDF L4.3 Quiz, ANS	Adversarial attacks	NeurIPS 2018 tutorial, Adversarial Robustness: Theory and Practice
W7	L5 Object Detection and Segmentation PPTX, PDF L5 Exercises, PPTX, PDF L5 Quiz, ANS	Object detection (R-CNN, Fast R-CNN, Faster R-CNN, Single-Stage Detectors), object segmentation	L5 Object Detection Pt1 from 2021 L5 Object Detection Pt2 from 2021 Deep Learning for Computer Vision, U Michigan, YouTube playlist
	Midterm Exam Mon. Nov 2, in class. (Will not cover L4.2 and L4.3)
W8	L6 LiDAR Perception PPTX, PDF L6 Exercises, PPTX, PDF L6 Quiz, ANS
W9	L7 Planning PPTX, PDF L7 Exercises, PPTX, PDF L7 Quiz, ANS	Route planning, behavior planning, local planning, Responsibility Sensitive Safety (RSS)	Self-Driving Cars: Planning (Benedikt Mersch 2020) (YouTube)
W10	L8 Control PPTX, PDF L8 Exercises, PPTX, PDF L8 Quiz, ANS	PID, MPC, Udacity racetrack control, PID tuning with twiddle()	Controlling Self Driving Cars PID Control tutorial PIDs Simplified Understanding PID Control, Part 1: What Is PID Control?
W10	L9.1 SLAM Fundamentals PPTX, PDF L9.1 Exercises, PPTX, PDF L9.1 Quiz, ANS L9.2 Modern SLAM for AD PPTX, PDF L9.2 Exercises, PPTX, PDF L9.2 Quiz, ANS
	Final Exam Wed. Dec 16, 10:30 AM-12:30 PM, based on Academic Records
Links	A collection of the latest machine learning and deep learning courses Traffic Sign Recognition using PyTorch and Deep Learning UC Berkeley CS231n Python Numpy Tutorial T81 558:Applications of Deep Neural Networks by Jeff Heaton, YouTube playlist (Good intro to Python, CoLab) Deep Neural Networks with PyTorch at Coursera PyTorch Notebooks/Tutorials Official tutorials: Colab, PyTorch Free Python Books