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6d-rgbd-odometry

Estimation of 6D (position/orientation) of Camera Pose using RGB-D Sensor.

allegro-lib

Simple Allegro lib interface/controller inherited from Seunsgu. Depends on Mathlib and Motion_generators from RobotToolkit.

auto-ds-learning

This package includes code to segment trajectories of a multi-step demonstrated task. The tasks considered are those that can be defined as a sequence of goal-oriented sub-tasks. In this work, each sub-task is characterized by a a Dynamical System (DS) Motion Policy and an attractor (representing the policy goal) found inside each Action Proposition (AP) region. Segmentation points are inferred tracking state changes in the pre-defined AP regions of the task.

bayesian_changepoint_detection

Methods to get the probability of a changepoint in a time series.

cbn_irl_corl19

cob_control

The cob_control stack includes packages that are used to do low level control tasks with Care-O-bot hardware over ROS.

cob_robots

compliant-ds

Sandbox for testing ideas on compliant dynamical system formulation and learning.

cover_letter_template

daft

Render some probabilistic graphical models using matplotlib

ds-opt

Toolbox including several techniques for estimation of Globally Asymptotically Stable Dynamical Systems from demonstrations. It focuses on the Linear Parameter Varying formulation with "physically-consistent" GMM mixing function and different constraint variants, as proposed in [1].

ds_impedance_control

This package provides DS-based impedance control for compliant control with DS motion generators.

ds_motion_generator

This package provide ros-nodified version of DS motion generators of different types (analytic, learned, modulated, cartesian and joint space).

easy-kinesthetic-recording

A package with all scripts and commands needed to record joint and ee trajectories (and more) from mutliple robots for kinesthetic teaching.

epimodel-sens

Sensitivity analysis of parameter uncertainty in standard compartmental epidemic models used to model COVID-19 spread in Python.

esir

Extended state-space SIR epidemiological models

franka_gripper_run

franka_interactive_controllers

Control interface built on top of franka_ros that allows controlling the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly DS-based) motion planning and learning.

gaussian-process-regression

Simple library with a basic no-frills implementation of GPR using Eigen. Basic support for multidimensional outputs.

gmm_learning

My little toolbox for learning Gaussian Mixture Models with different inference methods in Matlab.

iai_robots

Repo holding descriptions and launch-files for robots in the iai lab.

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/

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.

kinect-process-scene

"Robot-aware" scripts and methods to process table-top scenes with both Kinect v1 and v2.

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_interface_packages

This repo includes packages needed to control the KUKA Robots with a modular interface. (i.e. as a seperate "KUKA" bridge mode)

kuka_planning_interface

Action/Client Interface to test robot functionalities, such as executing CDS models + setting stiffness for teaching modes + simple motion generators in task and joint space.

lagrangian_nns

Lagrangian Neural Networks

lagsds-lib

This package provides a C++ library for evaluation of the Locally Active Globally Stable (LAGS) Dynamical System, proposed in [1].

lagsds-opt

Learning and Simulation of LAGS-DS (Locally Active Globally Stable) [1] for 2D and 3D tasks in MATLAB