STARS Laboratory

pykitti

Python tools for working with KITTI data.

liegroups

Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or pytorch

msckf-swf-comparison

MATLAB code and data for our CRV 2015 paper

GraphIK

A library for solving inverse kinematics with graphical models and distance geometry.

certifiable-calibration

Certifiably globally optimal extrinsic calibration for sensors providing egomotion estimates.

PhoenixDrone

Open-Source Releases of the Phoenix Tail-sitter Drone Project

sun-bcnn

Bayesian CNN Sun Detector

enav-planetary-dataset

Energy-Aware Planetary Navigation Dataset

pyb-sim-models

PyBullet simulation models repository

lfgp

Learning from Guided Play: A Scheduled Hierarchical Approach for Improving Exploration in Adversarial Imitation Learning Source Code

manipulator-learning

Manipulation OpenAI Gym environments to simulate robots at the STARS lab, as well as compatible imitation learning tools

visual-haptic-dynamics

Visual-Haptic Latent Dynamics

generative-graphik

inertial-identification-with-part-segmentation

Source code implementing our visual part-segmentation pipeline and inertial identification algorithms, and our contributed dataset of objects used to test the whole pipeline.

multiview-manipulation

Seeing All the Angles: Learning Multiview Manipulation Policies for Contact-Rich Tasks from Demonstrations

panda-polymetis

Tools for working with a panda robot using FAIR's polymetis library.

panda-rl-envs

Reinforcement Learning on a Panda Manipulator using FAIR's Polymetis

ROB498-flight

ROB498 flight software repository (for Jetson, etc.).

ROB498-support

Materials for ROB498 Capstone Design Course.

transform-utils

Common SO3 and SE3 functionalities that can be used across repos.

vpace

Scripts for running VPACE experiments.

mjrl

Reinforcement learning algorithms for MuJoCo tasks

urdfpy

Python parser for URDFs

utiasSTARS.github.io

Place to host papers published by the UTIAS STARS laboratory.

D4RL

A collection of reference environments for offline reinforcement learning

gplanetary-nav

Python-based interface with georeferenced terrain and insolation maps of planetary surfaces, in support of global navigation planning.

Metaworld

Collections of robotics environments geared towards benchmarking multi-task and meta reinforcement learning

rce-fork

Fork of Replacing Rewards with Examples from Google Research

ScanNet

xarm_ros

STARS Lab fork of ROS packages for robotic products from UFACTORY