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@utiasDSL Learning Systems and Robotics Lab (LSY)

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    69 repositories

    • lsy_drone_racing

      Public
      LSY Autonomous Drone Racing Challenge
      Python
      •
      MIT License
      •98•70•0•2•Updated Apr 22, 2026Apr 22, 2026

    • real_world_drl

      Public
      Deep Reinforcement Learning (DRL) setup for robot manipulation in the real world. It natively integrates with the low-level CRISP controllers.
      Python
      •0•0•0•0•Updated Apr 22, 2026Apr 22, 2026

    • lsy_ros_data_utils

      Public
      C++
      •
      MIT License
      •0•0•0•0•Updated Apr 21, 2026Apr 21, 2026

    • lerobot_realWorldDRL

      Public
      🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning
      Python
      •
      Apache License 2.0
      •4.3k•1•0•0•Updated Apr 20, 2026Apr 20, 2026

    • crisp_configs_realWorldDRL

      Public
      0•0•0•0•Updated Apr 20, 2026Apr 20, 2026

    • mujid_realWorldDRL

      Public
      Python
      •0•0•0•0•Updated Apr 15, 2026Apr 15, 2026

    • gym-pybullet-drones

      Public
      PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control
      controlreinforcement-learninguav
      controlreinforcement-learninguavquadcopterroboticsmulti-agentgymquadrotorgymnasiumcrazyflie
      Python
      •
      MIT License
      •534•2k•110•1•Updated Apr 14, 2026Apr 14, 2026

    • dynamixel_wrapper

      Public
      Python
      •0•0•0•0•Updated Apr 14, 2026Apr 14, 2026

    • foundation_pose_realWorldDRL

      Public
      0•0•0•0•Updated Apr 14, 2026Apr 14, 2026

    • franka_desk_api_client

      Public
      Python
      •0•1•1•0•Updated Apr 14, 2026Apr 14, 2026

    • pixi_franka_ros2

      Public
      C++
      •0•0•0•0•Updated Apr 14, 2026Apr 14, 2026

    • crisp_controllers_demos

      Public
      Demos on how to use the ros2_control compatible CRISP controllers - including cartesian impedance control and operational space control.
      Python
      •
      MIT License
      •15•20•3•0•Updated Apr 14, 2026Apr 14, 2026

    • crisp_py

      Public
      Simple python interface to be used with crisp_controllers.
      Python
      •
      MIT License
      •18•35•1•1•Updated Apr 14, 2026Apr 14, 2026

    • crisp_gym

      Public
      Gym environments for manipulators based on crisp_py and ROS2: collect data and deploy policies on real ROS2 enabled manipulators.
      pythonroboticsvla
      pythonroboticsvladiffusion-policygymnasium-environmentlerobot
      Python
      •
      MIT License
      •14•23•8•0•Updated Apr 14, 2026Apr 14, 2026

    • LIBERO_multiView

      Public
      Benchmarking Knowledge Transfer in Lifelong Robot Learning
      Jupyter Notebook
      •
      MIT License
      •399•0•0•0•Updated Apr 12, 2026Apr 12, 2026

    • clare

      Public
      Official code repository for "CLARE: Continual Learning for Vision-Language-Action Models via Autonomous Adapter Routing and Expansion".
      Jupyter Notebook
      •4•36•1•0•Updated Apr 11, 2026Apr 11, 2026

    • botasys_ft_sensor_ros2

      Public
      Dockerfile
      •0•0•0•0•Updated Apr 10, 2026Apr 10, 2026

    • crazyflow

      Public
      Scalable drone simulation using JAX.
      Python
      •
      MIT License
      •25•82•5•0•Updated Apr 10, 2026Apr 10, 2026

    • drone-models

      Public
      Drone models @ LSY. Contains symbolic (CasADi) and numeric (NumPy, JAX) versions of each system.
      Python
      •3•10•3•0•Updated Apr 10, 2026Apr 10, 2026

    • drone-controllers

      Public
      Drone controllers @ LSY. Contains numeric (NumPy, JAX, Torch, ...) versions of onboard controllers.
      Python
      •2•6•0•0•Updated Apr 10, 2026Apr 10, 2026

    • crisp_controllers

      Public
      CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies
      cpppython3ros2
      cpppython3ros2cartesian-impedence-controlrobot-manipulationoperational-space-control
      C++
      •
      MIT License
      •31•187•3•0•Updated Apr 9, 2026Apr 9, 2026

    • rslidar_sdk

      Public
      RoboSense LiDAR SDK for ROS & ROS2
      C++
      •
      Other
      •323•0•0•0•Updated Apr 8, 2026Apr 8, 2026

    • mimo_fmpc_socp

      Public
      Python
      •
      MIT License
      •1•1•0•0•Updated Apr 2, 2026Apr 2, 2026

    • swarmGPT

      Public
      Python
      •
      MIT License
      •5•17•0•0•Updated Mar 31, 2026Mar 31, 2026

    • OrbbecSDK_ROS2

      Public
      OrbbecSDK ROS2 wrapper
      C++
      •
      Apache License 2.0
      •138•2•0•0•Updated Mar 20, 2026Mar 20, 2026

    • microstrain_inertial_driver_common

      Public
      C++
      •
      MIT License
      •20•0•0•0•Updated Mar 19, 2026Mar 19, 2026

    • ARLDM-Advanced-Robot-Learning-And-Decision-Making

      Public
      Repository for the code in the "Control for Robotics" book, and the ARLDM course at TUM.
      Python
      •
      GNU General Public License v3.0
      •2•2•0•0•Updated Mar 16, 2026Mar 16, 2026

    • drone-estimators

      Public
      Drone state estimators @ LSY
      Python
      •2•1•4•0•Updated Mar 4, 2026Mar 4, 2026

    • mobile_manipulation

      Public
      A minimal copy of https://github.com/TracyDuX/mm_sequential_tasks used as a basis for future mobile manipulation research.
      Python
      •3•4•1•0•Updated Mar 4, 2026Mar 4, 2026

    • sm2ith

      Public
      Codebase for the ICRA 2026 paper SM2ITH.
      0•0•0•0•Updated Mar 4, 2026Mar 4, 2026
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