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/changepoint-detection
Online Change-point Detection Algorithm for Multi-Variate Data: Applications on Human/Robot Demonstrations.
Language:Jupyter Notebook42 6 014
epfl-lasa/robot-toolkit
The robot simulator and interface of LASA
Language:C++21 35 48
epfl-lasa/bimanual-task-motion-planning
LASA research repo for bimanual task planning.
Language:C++16 7 01
epfl-lasa/kuka-rviz-simulation
This package runs a simulation of the KUKA LWR robot in the LASA lab (EPFL) with the position/velocity-resolved control interface.
Language:C++11 25 75
epfl-lasa/cpr_load_support
This package is going to provide a controller for the ClearPath mobile robot to approach a load (carrying by the human) and support it and potentially take it from the human and move it around (to a desired location)
Language:C++9 6 01
epfl-lasa/JT-DS-Learning
Augmented Joint-space Task-oriented Dynamical Systems
Language:TeX5 3 13
epfl-lasa/RSS2018Tutorial
A set of exercises related to the tutorial given in RSS2018
5 6 07
epfl-lasa/demo-voice-control
Super simple python script that uses pocketsphinx for voice control with ROS for easy kineshetic teaching. Demo script is for recording demonstrations and open/close gripper.
Language:Python4 5 04
epfl-lasa/wheelchair-ds-motion
DS-based motion planning for the quickie-salsa wheelchair simulated in Gazebo.
Language:Python4 5 01
epfl-lasa/LPV
C++ implementation of GMM based LPV systems
Language:C++3 5 0
epfl-lasa/ds_admittance_control
This package provides Dynamical System-based Admittance control for compliant human-robot interaction
Language:C++2
epfl-lasa/easy-kinesthetic-recording
A package with all scripts and commands needed to record joint and ee trajectories (and more) from the KUKA LWR.
Language:CMake2 4 01
epfl-lasa/foot_surgical_robot
Language:C++2 7 0
epfl-lasa/GetLinkWorldPose
Gazebo Plugin to get any 6D frame of a robot link and write it to a yarp-port, used with iCub.
Language:C++1 7 0
epfl-lasa/JT-DS-lib
C++ libarary for executing JT-DS
Language:C++1 4 0
epfl-lasa/mouse_perturbation_robot
Language:C++1 6 01
epfl-lasa/stable_lds
Estimate a stable linear dynamical system from data
Language:MATLAB1 7 0
epfl-lasa/Task_Allocation
Language:C++1 4 01
epfl-lasa/user_performance_data
Parsing and preprocessing of the data collected in the user performance study.
Language:Matlab1 6 0
epfl-lasa/yarp2ros_data_publisher
Read force torque data from yarp ports and publish them as ros topics (for yarp to ros communication)
Language:C++0 7 00
epfl-lasa/abb
ROS-Industrial ABB meta-package (http://wiki.ros.org/abb)
Language:C++6 0
epfl-lasa/industrial_core
ROS-Industrial core meta-package. http://ros.org/wiki/industrial_core
Language:C++5 0
epfl-lasa/lasa-wiki
The wiki for lasa:
11 4
epfl-lasa/ridgeback_lasa
Custom Ridgeback package for LASA's Ridgeback, this is a copy of https://github.com/ridgeback/ridgeback
Language:C++3 21
epfl-lasa/ros-boilerplate
Standard ROS boilerplate code: C++ and python.
Language:CMake5 0
epfl-lasa/ros-tf-utils
Simple utilities for ROS TF coordinate frames.
Language:Python5 0
epfl-lasa/Thesis_Template
LASA's PHD thesis template
Language:TeX5 0
epfl-lasa/TutorialRSS2018.io
This tutorial will introduce students the techniques which are used to program robots through human demonstration. You can find the webpage in the following link:
Language:CSS
epfl-lasa/user_performance_estimation
User study performed to evaluate the way consistent behavior relates to applying forces in a task and to maneuvering a tool.
Language:MATLAB6 0
epfl-lasa/YuMi
This package containts the manuals and the source codes of Yumi robot.
Language:CMake