This document summarizes a guest lecture on portfolio optimization under uncertainty. The lecture discusses that risk is the probability of not achieving financial objectives. It is explained that investing should minimize this risk. Different portfolio optimization techniques are explored, including equal weighting, naive risk parity, robust risk parity, and mean-variance optimization using different return estimates. Dynamic parameter estimates based on historical volatility and covariance are used to re-optimize portfolios periodically. The results show that thoughtful optimization can materially reduce the probability of not achieving financial objectives compared to traditional static portfolios.