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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++ 2.4k 1.2k

  2. radiance_field_ros radiance_field_ros Public

    Implementation of Radiance Fields for Robotic Teleoperation

    Python 59 5

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2.3k 506

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.2k 269

  5. open3d_slam open3d_slam Public

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

    C++ 573 59

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 718 149

Repositories

Showing 10 of 256 repositories
  • terra-baselines Public

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

    leggedrobotics/terra-baselines’s past year of commit activity
    Python 16 1 0 1 Updated Sep 14, 2025
  • holistic_fusion Public

    Official repository for holistic fusion.

    leggedrobotics/holistic_fusion’s past year of commit activity
    C++ 124 BSD-3-Clause 14 4 1 Updated Sep 14, 2025
  • rsl_rl Public

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

    leggedrobotics/rsl_rl’s past year of commit activity
    Python 1,587 375 13 8 Updated Sep 13, 2025
  • direct_lidar_inertial_odometry Public Forked from vectr-ucla/direct_lidar_inertial_odometry

    [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/direct_lidar_inertial_odometry’s past year of commit activity
    C++ 3 MIT 190 0 0 Updated Sep 12, 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 48 0 2 1 Updated Sep 10, 2025
  • nav-suite Public

    Navigation Suite for IsaacLab

    leggedrobotics/nav-suite’s past year of commit activity
    Python 32 Apache-2.0 3 0 1 Updated Sep 9, 2025
  • kleinkram Public

    Kleinkram is a Structured bag and mcap Storage Solution Developed by RSL.

    leggedrobotics/kleinkram’s past year of commit activity
    TypeScript 18 MIT 3 99 (1 issue needs help) 21 Updated Sep 8, 2025
  • 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 7 MIT 87 0 0 Updated Sep 7, 2025
  • unity_ros_teleoperation Public

    Unity project for OpenXR control of ROS systems

    leggedrobotics/unity_ros_teleoperation’s past year of commit activity
    C# 77 BSD-3-Clause 11 0 0 Updated Sep 7, 2025
  • open3d_slam_private Public

    This is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.

    leggedrobotics/open3d_slam_private’s past year of commit activity
    C++ 1 2 0 3 Updated Sep 5, 2025
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