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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    239 repositories

    • gtsam_catkin

      Public
      Catkinized version of gtsam.
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •2•5•0•1•Updated Jun 29, 2025Jun 29, 2025

    • physical_terrain_parameter_learning

      Public
      Python
      •
      Other
      •1•18•0•0•Updated Jun 29, 2025Jun 29, 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.
      C++
      •1•1•0•3•Updated Jun 29, 2025Jun 29, 2025

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •0•42•3•0•Updated Jun 29, 2025Jun 29, 2025

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •0•12•0•0•Updated Jun 28, 2025Jun 28, 2025

    • Pretraining-in-RL

      Public template
      Master Project "Pretraining in RL"
      Python
      •
      MIT License
      •74•5•0•0•Updated Jun 27, 2025Jun 27, 2025

    • tf_bag

      Public
      Utilities to transparently use tf data recorded with rosbag in Python scripts
      Python
      •
      GNU Lesser General Public License v3.0
      •24•1•0•0•Updated Jun 27, 2025Jun 27, 2025

    • grand_tour_dataset

      Public
      The GrandTour Dataset: A Legged Robotics Dataset in the Wild
      Jupyter Notebook
      •0•31•3•0•Updated Jun 27, 2025Jun 27, 2025

    • waverider

      Public
      RMPs on multi-resolution occupancy maps for efficient reactive collision avoidance
      7•5•0•0•Updated Jun 26, 2025Jun 26, 2025

    • qed-splatter

      Public
      Python
      •
      Apache License 2.0
      •1•0•0•0•Updated Jun 24, 2025Jun 24, 2025

    • kleinkram

      Public
      Kleinkram is a Structured bag and mcap Storage Solution Developed by RSL.
      TypeScript
      •
      MIT License
      •0•6•94•25•Updated Jun 24, 2025Jun 24, 2025

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •12•98•2•2•Updated Jun 23, 2025Jun 23, 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
      •294•14•0•0•Updated Jun 20, 2025Jun 20, 2025

    • message_logger

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •28•2•0•1•Updated Jun 20, 2025Jun 20, 2025

    • habitat-lab

      Public
      A modular high-level library to train embodied AI agents across a variety of tasks and environments.
      Python
      •
      MIT License
      •562•0•0•0•Updated Jun 18, 2025Jun 18, 2025

    • foci

      Public
      Fast, orientation-aware trajectory planning using a novel Gaussian overlap-based collision formulation, modeling both robot and environment as Gaussian Splat.
      trajectory-optimizationgaussian-splattingorientation-awareness
      Python
      •
      MIT License
      •0•10•0•0•Updated Jun 16, 2025Jun 16, 2025

    • small_gicp

      Public
      Efficient and parallel algorithms for point cloud registration [C++, Python]
      C++
      •
      MIT License
      •79•2•0•0•Updated Jun 13, 2025Jun 13, 2025

    • marladona-isaac-lab

      Public
      External extenstion template based on Isaac Lab
      Python
      •
      Apache License 2.0
      •1•7•0•0•Updated Jun 11, 2025Jun 11, 2025

    • dlio

      Public
      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.
      C++
      •
      MIT License
      •171•6•0•0•Updated Jun 8, 2025Jun 8, 2025

    • rsl_drive_sdk

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •2•1•0•1•Updated Jun 6, 2025Jun 6, 2025

    • IsaacLabExtensionTemplate

      Public template
      External extenstion template based on Isaac Lab
      Python
      •
      Apache License 2.0
      •74•0•0•0•Updated Jun 3, 2025Jun 3, 2025

    • rsl_rl

      Public
      Fast and simple implementation of RL algorithms, designed to run fully on GPU.
      Python
      •
      Other
      •321•1.4k•6•6•Updated May 30, 2025May 30, 2025

    • field_local_planner

      Public
      C++
      •
      GNU General Public License v3.0
      •5•8•0•1•Updated May 30, 2025May 30, 2025

    • legged_gym

      Public
      Isaac Gym Environments for Legged Robots
      Python
      •
      Other
      •470•2.1k•48•5•Updated May 29, 2025May 29, 2025

    • grid_map_filters_drs

      Public
      C++
      •
      GNU General Public License v3.0
      •2•1•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

    • dinov2

      Public
      PyTorch code and models for the DINOv2 self-supervised learning method.
      Jupyter Notebook
      •
      Apache License 2.0
      •1k•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
      •136•658•32•4•Updated May 16, 2025May 16, 2025

    • rslidar_sdk

      Public
      RoboSense LiDAR SDK for ROS & ROS2
      C++
      •
      Other
      •256•0•0•0•Updated May 15, 2025May 15, 2025