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Name: Nadia Figueroa
Type: User
Company: @penn-figueroa-lab
Bio: robots + humans + machine learning
Location: Philadelphia, Pennsylvania
Name: Nadia Figueroa
Type: User
Company: @penn-figueroa-lab
Bio: robots + humans + machine learning
Location: Philadelphia, Pennsylvania
Estimation of 6D (position/orientation) of Camera Pose using RGB-D Sensor.
Simple Allegro lib interface/controller inherited from Seunsgu. Depends on Mathlib and Motion_generators from RobotToolkit.
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.
Methods to get the probability of a changepoint in a time series.
The cob_control stack includes packages that are used to do low level control tasks with Care-O-bot hardware over ROS.
Sandbox for testing ideas on compliant dynamical system formulation and learning.
Render some probabilistic graphical models using matplotlib
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].
This package provides DS-based impedance control for compliant control with DS motion generators.
This package provide ros-nodified version of DS motion generators of different types (analytic, learned, modulated, cartesian and joint space).
A package with all scripts and commands needed to record joint and ee trajectories (and more) from mutliple robots for kinesthetic teaching.
Sensitivity analysis of parameter uncertainty in standard compartmental epidemic models used to model COVID-19 spread in Python.
Extended state-space SIR epidemiological models
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.
Simple library with a basic no-frills implementation of GPR using Eigen. Basic support for multidimensional outputs.
My little toolbox for learning Gaussian Mixture Models with different inference methods in Matlab.
Repo holding descriptions and launch-files for robots in the iai lab.
Set of exercises accompanying the ICRA 2019 Tutorial on Dynamical System based Learning from Demonstration: https://epfl-lasa.github.io/TutorialICRA2019.io/
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.
"Robot-aware" scripts and methods to process table-top scenes with both Kinect v1 and v2.
This package contains motion planning code for LPV-DS tasks from Nadia's CoRL (2018) paper using the DS-impedance controller for the KUKA LWR 4+ robot in simulation (gazebo) and real robot.
This repo includes packages needed to control the KUKA Robots with a modular interface. (i.e. as a seperate "KUKA" bridge mode)
Action/Client Interface to test robot functionalities, such as executing CDS models + setting stiffness for teaching modes + simple motion generators in task and joint space.
Lagrangian Neural Networks
This package provides a C++ library for evaluation of the Locally Active Globally Stable (LAGS) Dynamical System, proposed in [1].
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Bring data to life with SVG, Canvas and HTML. 📊📈🎉
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Some thing interesting about web. New door for the world.
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Open source projects and samples from Microsoft.
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Data-Driven Documents codes.
China tencent open source team.