nbfigueroa/ds-opt

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Created over 6 years ago
Updated about 2 years ago

nbfigueroa/ds-opt

nbfigueroa

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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].

robot_admittance_controller

Admittance control law to generate desired motion of an end-effector (twist), given a desired or external wrench for a velocity-controlled robot.

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.

6D-RGBD-Odometry

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

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.

phys-gmm

Physically-consistent GMM fitting approach proposed by Figueroa, N. and Billard, A. (2018) "A Physically-Consistent Bayesian Non-Parametric Mixture Model for Dynamical System Learning". In Proceedings of the 2nd Conference on Robot Learning (CoRL).

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.

SCA-Boundary-Learning

This repository contains the necessary libraries, scripts and instructions to learn a Dual-Arm Self-Collision Avoidance Boundary.

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.

SVMGrad

Matlab/C++ library to evaluate SVM decision function and its derivatives.

SPCM-CRP

Toolbox for spectral non-parametric clustering of SPD matices (covariance matrices and ellipsoids). Also contains code for EM-based GMM learning and inference for Bayesian non-parametric CRP-GMM.

robotiq_ft300_sensor

Driver installation instructions, stand-alone ros node interface for the robotiq FT300 sensor and filter + tool calibration nodes.

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)

quatDS-lib

Matlab/C++ library to generate rotational motion with quaternion-DS.

lagsDS-opt

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

learning-ds-tutorial

GUI for learning DS from demonstrations using SEDS and LPV-DS approaches developed in LASA-EPFL.

gmm_learning

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

old-ds-opt-py

Python version of the https://github.com/nbfigueroa/ds-opt package to generate, learn and execute nonlinear dynamical system motion generators with several formulations (lpvDS,nnODE,..).

task_motion_planning_cds

This repository includes the packages and instructions to run the LASA Motion planning architecture developed initially for the rolling task within the Robohow project, but can be used for any task that and any type of controller in task spacce (i.e. desired cartesian pose/ft/stiff)/

Smith-Decomposition

lagsDS-lib

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

ds_impedance_control

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

robot_kinematics_kdl

Robot kinematics (forward and inverse) library based on Kinematics and Dynamics Library (KDL), the robot's kinematic chain is parsed from the URDF file.

sparseSVMLearning

Toolbox to learn sparse/efficient SVM for large data problems.

robot_velocity_filters

Set of tools for online motion generators with linear DS for position/orientation of EE and joint motion.

kinect-process-scene

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

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