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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    275 repositories

    • unity_ros_teleoperation

      Public
      Unity project for OpenXR control of ROS systems
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •21•123•0•0•Updated Jan 20, 2026Jan 20, 2026

    • sru-robot-deployment

      Public
      Robot Deployment - SRU Navigation on Unitree B2W
      Python
      •
      MIT License
      •1•26•0•0•Updated Jan 19, 2026Jan 19, 2026

    • kleinkram

      Public
      Kleinkram: Open Robotic Data Management
      TypeScript
      •
      MIT License
      •5•54•103•24•Updated Jan 19, 2026Jan 19, 2026

    • sru-depth-pretraining

      Public
      Depth Perception Pretraining - SRU Project
      Python
      •
      MIT License
      •1•24•1•0•Updated Jan 19, 2026Jan 19, 2026

    • 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.
      C++
      •2•2•0•3•Updated Jan 19, 2026Jan 19, 2026

    • rsl_rl_rwm

      Public
      Algorithm implementation for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics
      Python
      •
      Other
      •481•44•0•0•Updated Jan 19, 2026Jan 19, 2026

    • robotic_world_model_lite

      Public
      Lightweight implementation of Robotic World Model (RWM) and Uncertainty-Aware Robotic World Model (RWM-U)
      Python
      •
      Apache License 2.0
      •1•34•0•0•Updated Jan 19, 2026Jan 19, 2026

    • robotic_world_model

      Public
      Repository for our papers: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics and Uncertainty-Aware Robotic World Model Makes Offline Model-Based Reinforcement Learning Work on Real Robots
      Python
      •
      Apache License 2.0
      •24•436•0•0•Updated Jan 19, 2026Jan 19, 2026

    • unity_ros_robots

      Public
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Jan 19, 2026Jan 19, 2026

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •15•151•3•2•Updated Jan 15, 2026Jan 15, 2026

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •2•17•0•2•Updated Jan 14, 2026Jan 14, 2026

    • rsl_rl

      Public
      A fast and simple implementation of learning algorithms for robotics.
      Python
      •
      Other
      •481•2.1k•8•7•Updated Jan 12, 2026Jan 12, 2026

    • d3-skill-discovery

      Public
      Code for "Divide-Discover-Deploy" (CoRL 2025)
      legged-robotsskill-discovery
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•18•1•0•Updated Jan 9, 2026Jan 9, 2026

    • sru-navigation-learning

      Public
      SRU Navigation Learning - RL Training Framework
      Python
      •
      Other
      •1•44•1•1•Updated Jan 9, 2026Jan 9, 2026

    • sru-navigation-sim

      Public
      IsaacLab SRU RL Navigation Extension - SRU Project
      Python
      •
      MIT License
      •1•30•2•0•Updated Jan 6, 2026Jan 6, 2026

    • navitrace_evaluation

      Public
      Jupyter Notebook
      •
      MIT License
      •1•27•0•0•Updated Jan 5, 2026Jan 5, 2026

    • sru-pytorch-spatial-learning

      Public
      Spatially-Enhanced Recurrent Units (SRU) - PyTorch Implementation
      Python
      •
      MIT License
      •5•117•0•0•Updated Jan 5, 2026Jan 5, 2026

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •163•829•37•6•Updated Jan 5, 2026Jan 5, 2026

    • ocs2

      Public
      Optimal Control for Switched Systems
      controlroboticsmpcoptimal-control
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •289•1.3k•50•5•Updated Dec 30, 2025Dec 30, 2025

    • ROS-TCP-Endpoint

      Public
      ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts
      Python
      •
      Apache License 2.0
      •175•2•0•0•Updated Dec 26, 2025Dec 26, 2025

    • livox_ros_driver2

      Public
      Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
      C++
      •
      Other
      •516•3•0•0•Updated Dec 26, 2025Dec 26, 2025

    • vr_haptic_msgs

      Public
      CMake
      •
      MIT License
      •0•0•0•0•Updated Dec 25, 2025Dec 25, 2025

    • marladona-isaac-lab

      Public
      External extenstion template based on Isaac Lab
      Python
      •
      Apache License 2.0
      •4•26•0•0•Updated Dec 22, 2025Dec 22, 2025

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •7•30•1•0•Updated Dec 19, 2025Dec 19, 2025

    • zed-ros-wrapper

      Public
      Fork of the ROS wrapper for the ZED SDK
      C++
      •
      MIT License
      •0•0•0•0•Updated Dec 17, 2025Dec 17, 2025

    • ocs2_robotic_assets

      Public
      Various robotic assets for OCS2 Toolbox
      CMake
      •
      Apache License 2.0
      •22•30•0•0•Updated Dec 12, 2025Dec 12, 2025

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •1•55•2•1•Updated Dec 9, 2025Dec 9, 2025

    • pace-sim2real

      Public
      PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encoders.
      Python
      •
      Apache License 2.0
      •23•342•1•0•Updated Dec 9, 2025Dec 9, 2025

    • .github

      Public
      GitHub meta repository
      3•1•0•0•Updated Dec 7, 2025Dec 7, 2025

    • hesai_lidar_ros_driver

      Public
      A general ROS driver for Hesai LiDARs
      C++
      •112•1•0•0•Updated Dec 4, 2025Dec 4, 2025