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@utiasDSL Learning Systems and Robotics Lab (LSY)

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    57 repositories

    • lerobot_realWorldDRL

      Public
      🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning
      Python
      •
      Apache License 2.0
      •4.1k•0•0•0•Updated Mar 29, 2026Mar 29, 2026

    • lsy_drone_racing

      Public
      LSY Autonomous Drone Racing Challenge
      Python
      •
      MIT License
      •74•61•2•1•Updated Mar 28, 2026Mar 28, 2026

    • crazyflow

      Public
      Scalable drone simulation using JAX.
      Python
      •
      MIT License
      •23•76•5•0•Updated Mar 27, 2026Mar 27, 2026

    • lsy_ros_data_utils

      Public
      C++
      •
      MIT License
      •0•0•0•0•Updated Mar 27, 2026Mar 27, 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
      •532•1.9k•110•1•Updated Mar 26, 2026Mar 26, 2026

    • OrbbecSDK_ROS2

      Public
      OrbbecSDK ROS2 wrapper
      C++
      •
      Apache License 2.0
      •134•2•0•0•Updated Mar 20, 2026Mar 20, 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
      •9•23•8•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
      •1•1•0•0•Updated Mar 16, 2026Mar 16, 2026

    • drone-models

      Public
      Drone models @ LSY. Contains symbolic (CasADi) and numeric (NumPy, JAX) versions of each system.
      Python
      •3•10•3•0•Updated Mar 12, 2026Mar 12, 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
      •2•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

    • crisp_controllers

      Public
      CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies
      cpppython3ros2
      cpppython3ros2cartesian-impedence-controlrobot-manipulationoperational-space-control
      C++
      •
      MIT License
      •30•179•3•0•Updated Feb 28, 2026Feb 28, 2026

    • learning-from-videos-cad

      Public
      0•0•0•0•Updated Feb 27, 2026Feb 27, 2026

    • crisp_py

      Public
      Simple python interface to be used with crisp_controllers.
      Python
      •
      MIT License
      •15•33•1•1•Updated Feb 24, 2026Feb 24, 2026

    • learning-from-videos

      Public
      0•0•0•0•Updated Feb 22, 2026Feb 22, 2026

    • pycffirmware

      Public
      Python module wrapping control and state estimation loops of the Crazyflie firmware for Ubuntu, macOS, and Windows
      C
      •
      GNU General Public License v3.0
      •4•7•1•0•Updated Feb 15, 2026Feb 15, 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
      •13•20•2•0•Updated Feb 12, 2026Feb 12, 2026

    • livox_ros_driver2

      Public
      Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
      C++
      •
      Other
      •559•0•0•0•Updated Feb 5, 2026Feb 5, 2026

    • perceive_semantix_release

      Public
      Official perception pipeline of Where Did I Leave My Glasses? Open-Vocabulary Semantic Exploration in Real-World Semi-Static Environments
      Python
      •
      MIT License
      •0•7•0•0•Updated Jan 30, 2026Jan 30, 2026

    • botasys_ft_sensor_ros2

      Public
      0•0•0•0•Updated Jan 29, 2026Jan 29, 2026

    • clare

      Public
      Official code repository for "CLARE: Continual Learning for Vision-Language-Action Models via Autonomous Adapter Routing and Expansion".
      Jupyter Notebook
      •5•33•3•0•Updated Jan 27, 2026Jan 27, 2026

    • swarmGPT

      Public
      Python
      •
      MIT License
      •4•16•0•0•Updated Jan 21, 2026Jan 21, 2026

    • isaac-objnav-semistatic-eval

      Public
      IsaacSim based Evaluation Suite for Object-Goal Navigation in Semi-Static Scenes
      Python
      •0•0•0•0•Updated Jan 21, 2026Jan 21, 2026

    • drone-controllers

      Public
      Drone controllers @ LSY. Contains numeric (NumPy, JAX, Torch, ...) versions of onboard controllers.
      Python
      •2•6•0•0•Updated Jan 12, 2026Jan 12, 2026

    • upright

      Public
      [RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipulator.
      controlroboticsplanning
      controlroboticsplanningmpcmobile-manipulation
      Python
      •
      MIT License
      •12•133•0•0•Updated Jan 9, 2026Jan 9, 2026

    • mobile_manipulation_central

      Public
      Central repository for shared mobile manipulation code.
      Python
      •
      MIT License
      •4•20•0•0•Updated Dec 9, 2025Dec 9, 2025

    • core_course_examples

      Public
      Jupyter Notebook
      •
      MIT License
      •8•21•0•0•Updated Nov 28, 2025Nov 28, 2025

    • septentrio_gnss_driver

      Public
      Extended ROS 2 driver for Septentrio GNSS & INS receivers with extra messages supporting raw GNSS pre-processing.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •61•0•0•0•Updated Nov 27, 2025Nov 27, 2025

    • mimo_fmpc_socp

      Public
      Python
      •
      MIT License
      •1•1•0•0•Updated Nov 25, 2025Nov 25, 2025
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