diff --git a/_aa174a_aut2324/hw4.markdown b/_aa174a_aut2324/hw4_part_1.markdown
similarity index 100%
rename from _aa174a_aut2324/hw4.markdown
rename to _aa174a_aut2324/hw4_part_1.markdown
diff --git a/_aa174a_aut2324/hw4_part_2.markdown b/_aa174a_aut2324/hw4_part_2.markdown
new file mode 100644
index 0000000..45409ac
--- /dev/null
+++ b/_aa174a_aut2324/hw4_part_2.markdown
@@ -0,0 +1,12 @@
+---
+title:  "Homework #4 (Part 2)"
+seq_number: 5
+posted_date:   2023-11-17 11:59:00
+due_date:   2023-12-05 23:59:59
+pdf_link: "pdfs/homework/hw4_part_2.pdf"
+md_group: "assignments"
+---
+
+This homework consists of two state estimation problems. In the first problem, you will implement a Kalman Filter to estimate the position of 2D landmarks as a robot navigates through its environment. In the second problem, you will implement an Extended Kalman Filter to estimate the pose of the robot as it navigates through its environment and receives measurements of known 2D landmarks. All starter code is provided in Google Colab, and all answers should be compiled in a PDF a submitted via gradescope.
+
+Feel free to use this [Latex template](pdfs/homework/hw.tex).
diff --git a/aa174a_aut2324/index.html b/aa174a_aut2324/index.html
index 6d29baf..23e71a5 100644
--- a/aa174a_aut2324/index.html
+++ b/aa174a_aut2324/index.html
@@ -310,7 +310,7 @@ <h3>Schedule</h3>
               <td class="tg-vnl4">
                 <!-- Week 8 Lecture Slides -->
                 <a href="pdfs/lecture/lecture_13.pdf">Lecture 13</a>
-                <!-- <br/><a href="pdfs/lecture/lecture_15.pdf">Lecture 15</a> -->
+                <br/><a href="pdfs/lecture/lecture_14.pdf">Lecture 14</a>
               </td>
               <td class="tg-vnl4">
                 <!-- Week 8 Lecture Notes -->
diff --git a/aa174a_aut2324/pdfs/homework/hw4_part_2.pdf b/aa174a_aut2324/pdfs/homework/hw4_part_2.pdf
new file mode 100644
index 0000000..93fe2f7
Binary files /dev/null and b/aa174a_aut2324/pdfs/homework/hw4_part_2.pdf differ
diff --git a/aa174a_aut2324/pdfs/lecture/lecture_14.pdf b/aa174a_aut2324/pdfs/lecture/lecture_14.pdf
new file mode 100644
index 0000000..f8fb6bb
Binary files /dev/null and b/aa174a_aut2324/pdfs/lecture/lecture_14.pdf differ