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/Object-Trajectory-Prediction
Language:C++8 6 04
epfl-lasa/inverse-kinematics-examples
Language:C++7 26 10
epfl-lasa/load-share-estimation
Estimate the load share of an object supported by the robot (accounting for dynamics), using force/torque sensor data.
Language:C++7 25 02
epfl-lasa/PI2_GMM
Learning motions from demonstrations and rewards with time-invariant dynamical systems based policies
Language:Matlab6 5 03
epfl-lasa/sg_differentiation
A package implementing Savitzky-Golay smoothing and differentiation. May be useful to estimate e.g. velocity and acceleration from position measurements.
Language:C++6 5 03
epfl-lasa/gazebo_set_joint_position_plugin
Gazebo model plugin to set joints position on a robot (useful when replaying a rosbag for instance)
Language:C++4 4 03
epfl-lasa/MLDemos
MLDemos software
Language:C++4 7 03
epfl-lasa/icub-sdfast
iCub files for SDFast library. Can generate the dynamic model of the iCub to solve the dynamics equation of motion.
Language:C3 6 2
epfl-lasa/ICub_Optimization
Language:C3 5 0
epfl-lasa/A-SVM
Source Codes for Augmented-Support Vector Machine
Language:Matlab2 7 0
epfl-lasa/Icub_Gazebo
Language:C++2 5 1
epfl-lasa/locally-modulated-ds
Implementation of LMDS ("Incremental Motion Learning with Locally Modulated Dynamical Systems" ,Kronander, Khansari and Billard, Robotics and Autonomous Systems, 2015)
Language:C++2 6 12
epfl-lasa/optitrack-lasa
Library for reading Motion Capture Data.
Language:C++2 4 11
epfl-lasa/bimanual-catching-coman
human-inspired bimanual catching with Coman
Language:C++1 5 0
epfl-lasa/ensemble_ioc
A module implementing ensemble inverse optimal control and relevant examples
Language:Python1 3 03
epfl-lasa/grasp-data-capture
Language:C++1 15 2
epfl-lasa/lwr_robot
Model of the Kuka LWR 4 robot for gazebo/rviz. Star
Language:CMake1 6 0
epfl-lasa/robot-kinematics
Language:C++1 25 26
epfl-lasa/soft_grasping
package for compliant grasping
Language:Python1 5 0
epfl-lasa/syntouchpublisher
publisher for syntouch
Language:C1 6 03
epfl-lasa/nl-dynamics
Natural Language interface to Dynamics Systems controllers
Language:MATLAB0 5 10
epfl-lasa/allegro-lib
Simple Allegro lib interface/controller inherited from Seunsgu. Depends on Mathlib and Motion_generators from RobotToolkit.
Language:C++5 0
epfl-lasa/allegro_kuka
Model merging kuka LWR and AllegroHand for gazebo or rviz. Status: not cleaned
Language:CMake6 01
epfl-lasa/allegro_kuka_moveit_config
Moveit configuration package for lwr_robot with allegrohand mounted on it
Language:CMake3 0
epfl-lasa/allegro_opposition_primitives
Language:C++7 0
epfl-lasa/organizing_obj_task_motion_planner
planner for organising objects in ros environment
Language:Python
epfl-lasa/Orocos_Cogimon_Ros_Interface
Language:C++1
epfl-lasa/rtk_no_interface
A simple way to run RobotToolKit modules without any overhead
Language:C++5 0
epfl-lasa/throwing-robot
Language:C++6 01
epfl-lasa/ur_modern_driver
The new driver for the UR3/UR5/UR10 robot arms from universal robots
Language:C++6 01