Optimal Control and Reinforcement Learning

Heng Yang

2025-09-10

Preface

This is the textbook for Harvard ES/AM 158: Introduction to Optimal Control and Reinforcement Learning.

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Offerings

2025 Fall

Time: Mon/Wed 2:15 - 3:30pm

Location: SEC 1.413

Instructor: Heng Yang

Teaching Fellow: Haoyu Han, Han Qi

[Syllabus], [Problem Sets], [Canvas]

2023 Fall

The course was previously offered as Introduction to Optimal Control and Estimation.

Starting Fall 2025, contents about reinforcement learning have been added to the course.