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Learning Systems and Robotics Lab (LSY) · GitHub

Learning Systems and Robotics Lab (LSY)

README.md

Learning Systems and Robotics Lab (LSY)

Toward a seamless interaction of robotic systems with the physical world.

We are a robotics research group at the Technical University of Munich and the University of Toronto led by Prof. Angela Schoellig. We combine control theory, machine learning, and optimization to build robots that operate safely and effectively in uncertain, real-world environments — from single systems to large-scale swarms.

Research

Learning-based & safe control · Drone simulation · RL · VLAs · Multi-robot systems · Mobile manipulation

By the numbers

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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 2.1k 569

  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 919 168

  3. crisp_controllers crisp_controllers Public

    CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies

    C++ 238 40

  4. crazyflow crazyflow Public

    Scalable drone simulation using JAX.

    Python 178 46

  5. upright upright Public

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

    Python 155 13

  6. lsy_drone_racing lsy_drone_racing Public

    LSY Autonomous Drone Racing Challenge

    Python 86 119

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