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@utiasDSL

Learning Systems and Robotics Lab (LSY)

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  1. gym-pybullet-drones gym-pybullet-drones Public

    PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control

    Python 1.8k 499

  2. safe-control-gym safe-control-gym Public

    PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

    Python 820 158

  3. util-uwb-dataset util-uwb-dataset Public

    The UTIAS UWB dataset and data parsing scripts.

    Python 51 5

  4. AMSwarm AMSwarm Public

    Repository associated with paper titled "AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments", presented at IEEE ICRA 2023.

    C 48 13

  5. upright upright Public

    [RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipulator.

    Python 125 12

  6. code-release code-release Public

    A repository analyzing the impact of open-source code in machine learning, robotics, and controls research

    Python 11

Repositories

Showing 10 of 48 repositories
  • clare Public

    Official code repository for "CLARE: Continual Learning for Vision-Language-Action Models via Autonomous Adapter Routing and Expansion".

    utiasDSL/clare’s past year of commit activity
    Jupyter Notebook 1 0 0 0 Updated Jan 14, 2026
  • mobile_manipulation Public

    A minimal copy of https://github.com/TracyDuX/mm_sequential_tasks used as a basis for future mobile manipulation research.

    utiasDSL/mobile_manipulation’s past year of commit activity
    Python 1 0 1 0 Updated Jan 13, 2026
  • crisp_controllers Public

    CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies

    utiasDSL/crisp_controllers’s past year of commit activity
    C++ 127 18 5 (1 issue needs help) 1 Updated Jan 13, 2026
  • drone-models Public

    Drone models @ LSY. Contains symbolic (CasADi) and numeric (NumPy, JAX) versions of each system.

    utiasDSL/drone-models’s past year of commit activity
    Python 5 3 3 0 Updated Jan 12, 2026
  • drone-controllers Public

    Drone controllers @ LSY. Contains numeric (NumPy, JAX, Torch, ...) versions of onboard controllers.

    utiasDSL/drone-controllers’s past year of commit activity
    Python 2 2 0 0 Updated Jan 12, 2026
  • crazyflow Public

    Scalable drone simulation using JAX.

    utiasDSL/crazyflow’s past year of commit activity
    Python 53 MIT 15 4 0 Updated Jan 12, 2026
  • upright Public

    [RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipulator.

    utiasDSL/upright’s past year of commit activity
    Python 125 MIT 12 0 0 Updated Jan 9, 2026
  • crisp_py Public

    Simple python interface to be used with crisp_controllers.

    utiasDSL/crisp_py’s past year of commit activity
    Python 23 MIT 6 2 3 Updated Jan 7, 2026
  • crisp_gym Public

    Gym environments for manipulators based on crisp_py and ROS2: collect data and deploy policies on real ROS2 enabled manipulators.

    utiasDSL/crisp_gym’s past year of commit activity
    Python 20 MIT 6 10 (1 issue needs help) 0 Updated Jan 2, 2026
  • OrbbecSDK_ROS2 Public Forked from orbbec/OrbbecSDK_ROS2

    OrbbecSDK ROS2 wrapper

    utiasDSL/OrbbecSDK_ROS2’s past year of commit activity
    C++ 0 Apache-2.0 123 0 0 Updated Dec 24, 2025
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