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@hsp-iit Humanoid Sensing and Perception

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    63 repositories

    • ergocub_navigation

      Public
      ErgoCub Navigation Stack
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•3•0•0•Updated Apr 24, 2026Apr 24, 2026

    • tour-guide-robot

      Public
      A collection of modules and classes that can be used to perform guided tours with R1 robot or to simply interact with it. It's also the repo that contains the c…
      C++
      •15•11•10•4•Updated Apr 24, 2026Apr 24, 2026

    • rag_baseline

      Public
      This repository is a baseline that implement a RAG pipeline for llm's context refinement
      Python
      •0•0•0•0•Updated Apr 17, 2026Apr 17, 2026

    • ergo-maps

      Public
      Semantic navigation using visual-language models
      Jupyter Notebook
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Apr 11, 2026Apr 11, 2026

    • yarp-mcpClient-generalPurpose

      Public
      A conversational AI client that **automatically discovers and uses YARP MCP servers** through natural language.
      Python
      •0•0•0•0•Updated Apr 3, 2026Apr 3, 2026

    • yarp-mcpServers

      Public
      A Python-based Model Context Protocol (MCP) server framework that bridges YARP (Yet Another Robot Platform) and enables communication through MCP. This project …
      Python
      •0•0•0•0•Updated Apr 3, 2026Apr 3, 2026

    • r1-object-retrieval

      Public
      C++
      •4•1•0•0•Updated Mar 27, 2026Mar 27, 2026

    • PCHands

      Public
      Repository hosting the official code of the paper "PCHands: PCA-based Hand Pose Retargeting on Manipulators with N-DoF"
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •3•6•0•0•Updated Mar 19, 2026Mar 19, 2026

    • dreamsim-relocalization

      Public
      Python
      •1•0•0•0•Updated Mar 16, 2026Mar 16, 2026

    • multifingered-force-aware-control

      Public
      Repository containing the code for the ICRA 2026 paper `Multifingered force-aware control for humanoid robots`
      1•1•1•0•Updated Mar 6, 2026Mar 6, 2026

    • -multifingered-force-aware-control

      Public
      Repository containing the code for the ICRA 2026 paper `Multifingered force-aware control for humanoid robots`
      0•0•0•0•Updated Mar 6, 2026Mar 6, 2026

    • ergocub-cartesian-control

      Public
      Libraries and programs to control ergoCub and R1 in cartesian space
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •5•2•2•1•Updated Mar 6, 2026Mar 6, 2026

    • ergocub-behavior

      Public
      C++
      •1•5•0•0•Updated Feb 23, 2026Feb 23, 2026

    • bt_nav2_ergocub

      Public
      Behavior Trees Nodes for Nav2 for the ergocub project
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Feb 12, 2026Feb 12, 2026

    • ergocub_speech

      Public
      Repository containing the nodes used for the speech pipeline for the ergoCub robot
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Feb 2, 2026Feb 2, 2026

    • navigation2

      Public
      ROS 2 Navigation Framework and System
      C++
      •
      Other
      •1.8k•0•0•0•Updated Jan 27, 2026Jan 27, 2026

    • fsosar

      Public
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•1•0•0•Updated Jan 7, 2026Jan 7, 2026

    • 2d_lidar_people_tracker

      Public
      People and group tracking for R1 using 2D LIDARs and RGB-D cameras
      Python
      •2•0•0•0•Updated Dec 14, 2025Dec 14, 2025

    • HannesImitation

      Public
      HannesImitation is an imitation learning approach to control the Hannes prosthetic hand with a single Diffusion Policy to grasp several objects in diverse scena…
      controlroboticsmanipulation
      controlroboticsmanipulationprostheticsdiffusion-models
      Jupyter Notebook
      •
      MIT License
      •2•7•0•0•Updated Nov 24, 2025Nov 24, 2025

    • r1-steamdeck-launcher

      Public
      A repository to store all the scripts and files used to navigate r1 with the Steam Deck
      Shell
      •0•0•0•0•Updated Nov 18, 2025Nov 18, 2025

    • .github

      Public
      0•0•0•0•Updated Oct 22, 2025Oct 22, 2025

    • online-segmentation-demo

      Public
      This repository contains the code used in the experiments on R1 and iCub in the papers Fast Object Segmentation Learning with Kernel-based Methods for Robotics …
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Oct 17, 2025Oct 17, 2025

    • KDPE

      Public
      This is the code for our work KDPE: A Kernel Density Estimation Strategy for Diffusion Policy Trajectory Selection, which is based on the original Diffusion Pol…
      deep-learningroboticspolicy-l
      deep-learningroboticspolicy-l
      Python
      •0•2•0•0•Updated Oct 16, 2025Oct 16, 2025

    • hannes-wrist-control

      Public
      [ICRA 2025] Continuous Wrist Control on the Hannes Prosthesis: a Vision-based Shared Autonomy Framework
      roboticssimulationunity3d
      roboticssimulationunity3dprosthetics
      C#
      •1•1•0•0•Updated Sep 25, 2025Sep 25, 2025

    • hemisphere-dataset-generation

      Public
      [ICRA 2025] Continuous Wrist Control on the Hannes Prosthesis: a Vision-based Shared Autonomy Framework
      unity3ddataset-generation
      unity3ddataset-generation
      C#
      •0•1•0•0•Updated Sep 25, 2025Sep 25, 2025

    • dinoDet

      Public
      [ICRA 2025] Continuous Wrist Control on the Hannes Prosthesis: a Vision-based Shared Autonomy Framework
      computer-visioninstance-segmentationdinov2
      computer-visioninstance-segmentationdinov2
      Python
      •0•0•0•0•Updated Sep 25, 2025Sep 25, 2025

    • visual-servoing

      Public
      [ICRA 2025] Continuous Wrist Control on the Hannes Prosthesis: a Vision-based Shared Autonomy Framework
      roboticscontrollerprosthetics
      roboticscontrollerprosthetics
      Python
      •0•3•0•0•Updated Sep 22, 2025Sep 22, 2025

    • embodied-captioning

      Public
      Official repository of the paper "Embodied Image Captioning: Self-supervised Learning Agents for Spatially Coherent Image Descriptions" (ICCV 2025)
      image-captioningself-supervised-learningembodied-vision
      image-captioningself-supervised-learningembodied-visionin-context-learning
      Python
      •
      MIT License
      •1•10•0•0•Updated Sep 19, 2025Sep 19, 2025

    • mutual-gaze-detection

      Public
      Python
      •0•1•0•0•Updated Sep 3, 2025Sep 3, 2025

    • mutual-gaze-classifier-demo

      Public
      Python
      •2•0•0•0•Updated Aug 20, 2025Aug 20, 2025
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