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@leggedrobotics

Robotic Systems Lab - Legged Robotics at ETH Zürich

The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.
README.md

Robotic Systems Lab

Legged Robotics @ ETH Zürich

The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.

With a large focus on robots with arms and legs, our research includes novel actuation methods for advanced dynamic interaction, innovative designs for increased system mobility and versatility, and new control and optimization algorithms for locomotion and manipulation. In search of clever solutions, we take inspiration from humans and animals with the goal to improve the skills and autonomy of complex robotic systems to make them applicable in various real-world scenarios.

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  1. darknet_ros darknet_ros Public

    YOLO ROS: Real-Time Object Detection for ROS

    C++ 2.3k 1.2k

  2. radiance_field_ros radiance_field_ros Public

    Implementation of Radiance Fields for Robotic Teleoperation

    Python 44 3

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 1.8k 443

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1k 242

  5. open3d_slam open3d_slam Public

    Pointcloud-based graph SLAM written in C++ using open3D library.

    C++ 547 57

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 613 131

Repositories

Showing 10 of 224 repositories
  • Pretraining-in-RL Public template Forked from isaac-sim/IsaacLabExtensionTemplate

    Master Project "Pretraining in RL"

    leggedrobotics/Pretraining-in-RL’s past year of commit activity
    Python 1 MIT 65 0 0 Updated Apr 7, 2025
  • terra-baselines Public

    Train, visualize, and evaluate RL policies for the Terra environment.

    leggedrobotics/terra-baselines’s past year of commit activity
    Python 10 0 1 0 Updated Apr 6, 2025
  • gtsam_catkin Public

    Catkinized version of gtsam.

    leggedrobotics/gtsam_catkin’s past year of commit activity
    CMake 5 BSD-3-Clause 2 0 0 Updated Apr 6, 2025
  • elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    leggedrobotics/elevation_mapping_cupy’s past year of commit activity
    Python 613 MIT 131 31 4 Updated Apr 5, 2025
  • dlio Public Forked from vectr-ucla/direct_lidar_inertial_odometry

    Fork of [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

    leggedrobotics/dlio’s past year of commit activity
    C++ 4 MIT 149 0 0 Updated Apr 4, 2025
  • terra Public

    A grid world environment for high-level earthworks planning in JAX for RL.

    leggedrobotics/terra’s past year of commit activity
    Python 34 0 2 2 Updated Apr 4, 2025
  • wavemap Public Forked from ethz-asl/wavemap

    Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

    leggedrobotics/wavemap’s past year of commit activity
    C++ 3 BSD-3-Clause 47 0 0 Updated Apr 2, 2025
  • rsl_rl Public

    Fast and simple implementation of RL algorithms, designed to run fully on GPU.

    leggedrobotics/rsl_rl’s past year of commit activity
    Python 1,099 277 17 7 Updated Apr 1, 2025
  • dinov2 Public Forked from facebookresearch/dinov2

    PyTorch code and models for the DINOv2 self-supervised learning method.

    leggedrobotics/dinov2’s past year of commit activity
    Jupyter Notebook 2 Apache-2.0 930 0 0 Updated Apr 1, 2025
  • legged_control Public Forked from qiayuanl/legged_control

    NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

    leggedrobotics/legged_control’s past year of commit activity
    C++ 10 BSD-3-Clause 275 0 0 Updated Apr 1, 2025
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