LASA Laboratory, EPFL

Learning Algorithms and Systems Laboratory, https://epfl-lasa.github.io/

Lausanne, Switzerland

Pinned Repositories

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.
Language:C++29 9 412
dynamic_obstacle_avoidance_linear
This package contains a dynamic obstacle avoidance algorithm for concave and convex obstacles as developped in [1].
Language:Python57 3 212
icra-lfd-tutorial
This repository contains code and information for the computer exercises for the tutorial on Learning from Demonstration at ICRA 2016.
Language:Matlab44 11 129
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/
Language:MATLAB62 12 121
iCub-Assistant
Source code for ICRA 2020 paper "A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots"
Language:C++8 6 03
iiwa_ros
ROS Meta-package for controlling KUKA IIWA
Language:C++140 9 8144
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.
Language:C++13 6 03
kuka-lwr-ros
ROS KUKA robot control (simulation & physical)
Language:C++61 22 1330
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
Language:MATLAB96 18 046
ridgeback_ur5_controller
Several controllers to move Ridgeback mobile-robot and UR5 robotic-arm.
Language:C++118 10 738

LASA Laboratory, EPFL's Repositories

epfl-lasa/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.
Language:C++13 6 03
epfl-lasa/task_adaptation
Language:C++13 6 17
epfl-lasa/bimanual-dynamical-system
Virtual Object Dynamical System for Dual-Arm Coordination, controller and execution class.
Language:C++9 5 15
epfl-lasa/obstacleAvoidance_Cpp
Implementation of the Obstacle Avoidance algorithm in C++
Language:C++9 6 04
epfl-lasa/passive-ds-control
A package implementing various controllers for first order DS tasks
Language:C++9 27 18
epfl-lasa/task-motion-planning-cds
This repository includes the packages and instructions to run the LASA Motion planning architecture developed initially for the rolling task within the Robohow project, but can be used for any task that and any type of controller in task spacce (i.e. desired cartesian pose/ft/stiff)/
Language:C++9 5 03
epfl-lasa/coupled-dynamical-systems
Coupled Dynamical Systems Execution for Position (master) - Orientation (slave) of end-effector encoded with Gaussian Mixture Models.
Language:C8 27 14
epfl-lasa/adaptive_polishing
Language:C++6 3 06
epfl-lasa/biped-walking-controller
Reactive omnidirectional walking controller for biped humanoid robot iCub
Language:C++6 7 01
epfl-lasa/kuka-lagsds-tasks
This package contains motion planning code for LAGS-DS tasks from Nadia's IJRR (2019) paper using the DS-impedance controller for the KUKA LWR 4+ robot in simulation (gazebo) and real robot.
Language:C++5 3 02
epfl-lasa/icub-ds-walking
DS-based motion planning for the iCub using the reactive omnidirectional walking controller and DS learned from demonstrations.
Language:C++3 7 01
epfl-lasa/sahr_spring_assembly_dataset
The 7-dof human upper limb kinematic model. Including both arms and hands. Mainly used for kinematics analysis and motion visualization.
3 12 00
epfl-lasa/force_based_ds_modulation
Language:C++2 6 01
epfl-lasa/mocap_optitrack
ROS nodes for working with the NaturalPoint Optitrack motion capture setup
Language:C++2 3 01
epfl-lasa/fri-library-ros
The KUKA FRI library and a nice wrapper for it. We use these in lwr_interface
Language:C++1 15 2
epfl-lasa/lift_help_predictor
Language:Python11
epfl-lasa/optoforce
ROS driver for the Optoforce sensor
Language:Python1 6 0
epfl-lasa/Robot-kinematic
This will be an equivalent of https://github.com/epfl-lasa/robot-kinematics in Python!
Language:Python1 6 0
epfl-lasa/SAHR_database
Data recording from the SAHR project.
Language:MATLAB1 8 00
epfl-lasa/SAHR_multids
This repository contains a MATLAB package to cluster and extract Lyapunov functions from a multiple attractors dynamical system
Language:MATLAB1 7 0
epfl-lasa/YUMI_IK_Solver
This package provides a high level interface to YUMI, the input of the interface is end-effector position and orientation
Language:C++1 6 0
epfl-lasa/aruco_markers
Working examples/tutorial for detection and pose estimation of ArUco markers with C++
Language:C++6 0
epfl-lasa/cds_model_learning_generic
Language:MATLAB2 0
epfl-lasa/ICSC-HMM
Toolbox for IBP Coupled SPCM-CRP Hidden Markov Model. Also contains code for EM-based HMM learning and inference for Bayesian non-parametric HDP-HMM and IBP-HMM.
Language:MATLAB3 01
epfl-lasa/IIWA_IK_interface
A high level interface for IIWA
Language:C++6 0
epfl-lasa/IRL_with_dynamical_system
Language:MATLAB2 01
epfl-lasa/katana_control
Language:C++7 0
epfl-lasa/opensim_node
Language:CMake
epfl-lasa/opensim_server
Language:CMake10 0
epfl-lasa/yumi-1
ROS packages pertaining to the ABB YuMi (IRB 14000) robot
Language:C++5 0