LASA Laboratory, EPFL

control-libraries

A collection of library modules to facilitate the creation of full control loop algorithms, including state representation, motion planning, kinematics, dynamics and control.

dynamic_obstacle_avoidance_linear

This package contains a dynamic obstacle avoidance algorithm for concave and convex obstacles as developped in [1].

icra-lfd-tutorial

This repository contains code and information for the computer exercises for the tutorial on Learning from Demonstration at ICRA 2016.

icra19-lfd-tutorial-exercises

Set of exercises accompanying the ICRA 2019 Tutorial on Dynamical System based Learning from Demonstration: https://epfl-lasa.github.io/TutorialICRA2019.io/

iCub-Assistant

Source code for ICRA 2020 paper "A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots"

iiwa_ros

ROS Meta-package for controlling KUKA IIWA

kuka-lpvds-tasks

This package contains motion planning code for LPV-DS tasks from Nadia's CoRL (2018) paper using the DS-impedance controller for the KUKA LWR 4+ robot in simulation (gazebo) and real robot.

kuka-lwr-ros

ROS KUKA robot control (simulation & physical)

ML_toolbox

A Machine learning toolbox containing algorithms for non-linear dimensionality reduction, clustering, classification and regression along with examples and tutorials which accompany the Master level "Advanced Machine Learning" and "Machine Learning Programming" courses taught at EPFL by Prof. Aude Billard

ridgeback_ur5_controller

Several controllers to move Ridgeback mobile-robot and UR5 robotic-arm.

epfl-lasa/iiwa_ros

ROS Meta-package for controlling KUKA IIWA

epfl-lasa/OptimalModulationDS

epfl-lasa/Neural-JSDF

epfl-lasa/iam_dual_arm_control

This repository contains codes to generate coordinated motion and forces to control a robotic dual arm system (here two iiwa robots)

epfl-lasa/dynamic_obstacle_avoidance

epfl-lasa/franka-lightweight-interface

epfl-lasa/hand_eye_calibration

This repository presents a comprehensive solution to the hand-eye calibration problem, a fundamental challenge in robotics and computer vision. Hand-eye calibration is critical for applications requiring precise alignment between the coordinate system of a robotic manipulator (the 'hand') and a vision system (the 'eye').

epfl-lasa/wiki

Best practices, conventions, manuals and instructions for researchers at the LASA

epfl-lasa/Action_contextualisation

epfl-lasa/hitting_sim

Dynamical Systems and Controllers used in hitting experiments

epfl-lasa/mpc_motion_planner

Motion planner based on MPC for robotic arms

epfl-lasa/demo-learn-embedding

Repositories containing source code to reproduce demonstrations in the paper...

epfl-lasa/object_exploration

Online active and dynamic object shape exploration with a multi-fingered robotic hand

epfl-lasa/simulator-backend

epfl-lasa/wp5-metal-additive

RobétArmé repository with EPFL control part only.

epfl-lasa/mc_observer_vrpn

epfl-lasa/optitrack_ros_interface

epfl-lasa/air_hockey

Code for the airhockey data collection framework

epfl-lasa/crawling_hand

epfl-lasa/data_laplacian_eigenmaps

epfl-lasa/i_am_project

epfl-lasa/ik-geo-cpp

epfl-lasa/koptev_demo

Complete code to play Mikhail's Koptev's demo

epfl-lasa/llmChatbot

epfl-lasa/mc_kuka_fri

Interface between mc_rtc and kuka_fri (beta)

epfl-lasa/PUCL_learning_constraint

This repository contains the code for the paper "Positive-Unlabeled Constraint Learning (PUCL) for Inferring Nonlinear Continuous Constraint Functions from Expert Demonstrations"

epfl-lasa/pyGrasp

epfl-lasa/SAHR_Neural_JSDF

epfl-lasa/udp_ros_interface

Simple tools to create a ROS node with UDP socket to be able to stream data from Motive and Optitrack.

epfl-lasa/ur5_lasa

"This package contains all the necessary information to control the Ridgeback and UR5 with ROS. It also provides files to run the simulation and instructions on how to set up the robots.