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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    233 repositories

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •0•40•2•1•Updated May 29, 2025May 29, 2025

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •9•92•1•2•Updated May 28, 2025May 28, 2025

    • Pretraining-in-RL

      Public template
      Master Project "Pretraining in RL"
      Python
      •
      MIT License
      •70•4•0•0•Updated May 28, 2025May 28, 2025

    • legged_control

      Public
      NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •286•13•0•0•Updated May 28, 2025May 28, 2025

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •0•11•0•1•Updated May 28, 2025May 28, 2025

    • field_local_planner

      Public
      C++
      •
      GNU General Public License v3.0
      •5•7•0•1•Updated May 28, 2025May 28, 2025

    • small_gicp

      Public
      Efficient and parallel algorithms for point cloud registration [C++, Python]
      C++
      •
      MIT License
      •75•1•0•0•Updated May 27, 2025May 27, 2025

    • rsl_rl

      Public
      Fast and simple implementation of RL algorithms, designed to run fully on GPU.
      Python
      •
      Other
      •304•1.3k•3•5•Updated May 26, 2025May 26, 2025

    • grid_map_filters_drs

      Public
      C++
      •
      GNU General Public License v3.0
      •2•1•0•0•Updated May 26, 2025May 26, 2025

    • qed-splatter

      Public
      Python
      •
      Apache License 2.0
      •1•0•0•0•Updated May 26, 2025May 26, 2025

    • wavemap

      Public
      Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •48•3•0•0•Updated May 24, 2025May 24, 2025

    • rsl_drive_sdk

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •2•1•0•2•Updated May 23, 2025May 23, 2025

    • marladona-isaac-lab

      Public template
      External extenstion template based on Isaac Lab
      Python
      •
      Apache License 2.0
      •1•4•0•0•Updated May 20, 2025May 20, 2025

    • dinov2

      Public
      PyTorch code and models for the DINOv2 self-supervised learning method.
      Jupyter Notebook
      •
      Apache License 2.0
      •971•3•0•0•Updated May 20, 2025May 20, 2025

    • radiance_field_ros

      Public
      Implementation of Radiance Fields for Robotic Teleoperation
      roboticsrosnerfteleoperationgaussian-splatting
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •5•55•1•0•Updated May 19, 2025May 19, 2025

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •134•636•32•4•Updated May 16, 2025May 16, 2025

    • rslidar_sdk

      Public
      RoboSense LiDAR SDK for ROS & ROS2
      C++
      •
      Other
      •249•0•0•0•Updated May 15, 2025May 15, 2025

    • perfectlyconstrained

      Public
      Official implementations from the paper "Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild"
      C++
      •
      MIT License
      •2•57•1•0•Updated May 14, 2025May 14, 2025

    • habitat-lab

      Public
      A modular high-level library to train embodied AI agents across a variety of tasks and environments.
      Python
      •
      MIT License
      •556•0•0•0•Updated May 12, 2025May 12, 2025

    • gtsam_catkin

      Public
      Catkinized version of gtsam.
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •2•5•0•1•Updated May 12, 2025May 12, 2025

    • unity_ros_teleoperation

      Public
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •6•52•0•0•Updated May 12, 2025May 12, 2025

    • anymal_d_simple_description

      Public
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •6•2•0•0•Updated May 8, 2025May 8, 2025

    • gfm_distillation

      Public
      0•0•0•0•Updated May 7, 2025May 7, 2025

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •0•2•0•0•Updated May 6, 2025May 6, 2025

    • obstacle-avoidant-leader-following

      Public
      HTML
      •0•1•1•0•Updated May 2, 2025May 2, 2025

    • fdm

      Public
      Learned Perceptive Forward Dynamics Model
      0•44•1•0•Updated Apr 29, 2025Apr 29, 2025

    • libsbp_catkin

      Public
      Swiftnav SBP Library
      CMake
      •
      MIT License
      •2•0•0•0•Updated Apr 25, 2025Apr 25, 2025

    • ethz_piksi_ros

      Public
      ROS drivers for the Piksi RTK GPS module
      C++
      •
      Other
      •90•1•0•0•Updated Apr 24, 2025Apr 24, 2025

    • benchmark_throwaway3

      Public template
      How to create a challenge on EvalAI?
      Python
      •175•0•0•0•Updated Apr 21, 2025Apr 21, 2025

    • benchmark_throwaway4

      Public template
      How to create a challenge on EvalAI?
      Python
      •175•0•0•0•Updated Apr 21, 2025Apr 21, 2025