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@utiasDSL Learning Systems and Robotics Lab (LSY)

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    43 repositories

    • swarmGPT

      Public
      Python
      •
      MIT License
      •0•5•0•0•Updated Nov 18, 2025Nov 18, 2025

    • drone-models

      Public
      Drone models @ LSY. Contains symbolic (CasADi) and numeric (NumPy, JAX) versions of each system.
      Python
      •1•2•3•0•Updated Nov 18, 2025Nov 18, 2025

    • lsy_drone_racing

      Public
      Autonomous drone racing course @ LSY
      Python
      •
      MIT License
      •60•43•2•1•Updated Nov 18, 2025Nov 18, 2025

    • gym-pybullet-drones

      Public
      PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control
      controlreinforcement-learninguavquadcopterroboticsmulti-agentgymquadrotorgymnasiumcrazyflie
      Python
      •
      MIT License
      •486•1.7k•109•2•Updated Nov 18, 2025Nov 18, 2025

    • crazyflow

      Public
      Scalable Crazyflie simulation using JAX.
      Python
      •
      MIT License
      •10•42•4•0•Updated Nov 17, 2025Nov 17, 2025

    • drone-estimators

      Public
      Drone state estimators @ LSY
      Python
      •1•0•4•0•Updated Nov 17, 2025Nov 17, 2025

    • crisp_gym

      Public
      Gym environments for manipulators based on crisp_py and ROS2: collect data and deploy policies on real ROS2 enabled manipulators.
      pythonroboticsvladiffusion-policygymnasium-environment
      Python
      •
      MIT License
      •3•15•9•1•Updated Nov 17, 2025Nov 17, 2025

    • crisp_controllers

      Public
      CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies
      cpppython3ros2cartesian-impedence-controlrobot-manipulationoperational-space-control
      C++
      •11•112•4•0•Updated Nov 15, 2025Nov 15, 2025

    • drone-controllers

      Public
      Drone controllers @ LSY. Contains numeric (NumPy, JAX, Torch, ...) versions of onboard controllers.
      Python
      •0•0•0•0•Updated Nov 12, 2025Nov 12, 2025

    • crisp_py

      Public
      Simple python interface to be used with crisp_controllers.
      Python
      •
      MIT License
      •2•20•1•1•Updated Nov 12, 2025Nov 12, 2025

    • axswarm

      Public
      Swarm trajectory planning algorithm implemented in JAX
      Python
      •
      MIT License
      •1•5•0•0•Updated Nov 12, 2025Nov 12, 2025

    • safe-control-gym

      Public
      PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL
      controlreinforcement-learningquadcopterroboticssymbolicgymcartpolesafetyquadrotorrobustness
      Python
      •
      MIT License
      •153•794•6•2•Updated Nov 6, 2025Nov 6, 2025

    • utias_ra_loc

      Public
      CSS
      •0•1•0•0•Updated Nov 6, 2025Nov 6, 2025

    • fiper

      Public
      [NeurIPS 2025] Official code repository for "Failure Prediction at Runtime for Generative Robot Policies".
      Python
      •
      MIT License
      •4•20•2•0•Updated Nov 3, 2025Nov 3, 2025

    • mimo_fmpc_socp

      Public
      Python
      •
      MIT License
      •0•0•0•0•Updated Nov 1, 2025Nov 1, 2025

    • util-uwb-dataset

      Public
      The UTIAS UWB dataset and data parsing scripts.
      Python
      •4•46•2•0•Updated Oct 27, 2025Oct 27, 2025

    • rigeo

      Public
      Rigid body geometry and density realizable inertial parameters.
      Python
      •
      MIT License
      •0•4•0•0•Updated Oct 16, 2025Oct 16, 2025

    • core_course_examples

      Public
      Jupyter Notebook
      •
      MIT License
      •8•20•0•0•Updated Oct 15, 2025Oct 15, 2025

    • crisp_controllers_demos

      Public
      Demos on how to use the ros2_control compatible CRISP controllers - including cartesian impedance control and operational space control.
      Python
      •4•13•2•0•Updated Oct 9, 2025Oct 9, 2025

    • mobile_manipulation_central

      Public
      Central repository for shared mobile manipulation code.
      Python
      •
      MIT License
      •3•17•0•0•Updated Sep 4, 2025Sep 4, 2025

    • upright

      Public
      [RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipulator.
      controlroboticsplanningmpcmobile-manipulation
      Python
      •
      MIT License
      •12•120•0•0•Updated Jul 24, 2025Jul 24, 2025

    • ocs2

      Public
      Optimal Control for Switched Systems
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •279•5•0•0•Updated Jul 24, 2025Jul 24, 2025

    • crazyswarm

      Public
      A Large Quadcopter Swarm
      Python
      •
      MIT License
      •368•0•0•0•Updated Jul 22, 2025Jul 22, 2025

    • AMSwarmPy

      Public
      New version of AMSwarm for Swarm GPT
      C++
      •
      MIT License
      •1•0•0•0•Updated Jul 14, 2025Jul 14, 2025

    • motion_capture_tracking

      Public
      ROS Package for different motion capture systems, including custom rigid body tracking support
      C++
      •
      MIT License
      •35•0•0•0•Updated May 7, 2025May 7, 2025

    • force_push

      Public
      [RA-L 2024] Quasistatic robotic planar pushing with single-point contact using force feedback.
      controlroboticspushingmobile-manipulation
      Python
      •
      MIT License
      •1•10•0•0•Updated Mar 26, 2025Mar 26, 2025

    • cautious-lamp

      Public archive
      Python
      •0•0•0•0•Updated Jan 23, 2025Jan 23, 2025

    • crazyflie_docs

      Public
      Documentation of all Crazyflie projects and routines at LSY
      0•1•0•0•Updated Nov 23, 2024Nov 23, 2024

    • mm_gazebo

      Public archive
      Gazebo interface for mobile manipulator code.
      Python
      •0•0•0•0•Updated Nov 14, 2024Nov 14, 2024

    • mm_diff_ik

      Public archive
      Controller code and utilities for the Thing mobile manipulator.
      Python
      •0•0•0•0•Updated Nov 14, 2024Nov 14, 2024