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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 55 5

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2k 452

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.1k 246

  5. open3d_slam open3d_slam Public

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

    C++ 554 56

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 629 132

Repositories

Showing 10 of 233 repositories
  • terra Public

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

    leggedrobotics/terra’s past year of commit activity
    Python 40 0 2 0 Updated May 22, 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 3 MIT 70 0 0 Updated May 21, 2025
  • holistic_fusion Public

    Official repository for holistic fusion.

    leggedrobotics/holistic_fusion’s past year of commit activity
    C++ 90 BSD-3-Clause 9 1 0 Updated May 21, 2025
  • terra-baselines Public

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

    leggedrobotics/terra-baselines’s past year of commit activity
    Python 11 0 0 0 Updated May 21, 2025
  • small_gicp Public Forked from koide3/small_gicp

    Efficient and parallel algorithms for point cloud registration [C++, Python]

    leggedrobotics/small_gicp’s past year of commit activity
    C++ 1 MIT 74 0 0 Updated May 21, 2025
  • marladona-isaac-lab Public template

    External extenstion template based on Isaac Lab

    leggedrobotics/marladona-isaac-lab’s past year of commit activity
    Python 4 Apache-2.0 0 0 0 Updated May 20, 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 3 Apache-2.0 971 0 0 Updated May 20, 2025
  • radiance_field_ros Public

    Implementation of Radiance Fields for Robotic Teleoperation

    leggedrobotics/radiance_field_ros’s past year of commit activity
    Python 55 BSD-3-Clause 5 1 0 Updated May 19, 2025
  • qed-splatter Public
    leggedrobotics/qed-splatter’s past year of commit activity
    Python 0 Apache-2.0 1 0 0 Updated May 19, 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++ 12 BSD-3-Clause 287 0 0 Updated May 16, 2025
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