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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    306 repositories

    • 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
      •66•680•1•1•Updated Aug 19, 2026Aug 19, 2026

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •2•20•0•3•Updated Aug 18, 2026Aug 18, 2026

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •1•59•2•2•Updated Aug 18, 2026Aug 18, 2026

    • rsl_rl

      Public
      A fast and simple implementation of learning algorithms for robotics.
      Python
      •
      Other
      •660•2.9k•6•3•Updated Aug 18, 2026Aug 18, 2026

    • anymal_d_simple_description

      Public
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •12•3•0•0•Updated Aug 17, 2026Aug 17, 2026

    • grand_tour_dataset

      Public
      The GrandTour Dataset: A Legged Robotics Dataset in the Wild
      Jupyter Notebook
      •7•156•16•0•Updated Aug 17, 2026Aug 17, 2026

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •24•201•1•1•Updated Aug 17, 2026Aug 17, 2026

    • unity_ros_teleoperation

      Public
      Unity project for OpenXR control of ROS systems
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •24•171•0•0•Updated Aug 17, 2026Aug 17, 2026

    • rslidar_sdk

      Public
      RoboSense LiDAR SDK for ROS & ROS2
      C++
      •
      Other
      •349•0•0•0•Updated Aug 15, 2026Aug 15, 2026

    • BIEVR-LIO

      Public
      [RSS 2026] 🦫 BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •39•0•0•0•Updated Aug 15, 2026Aug 15, 2026

    • rsl-student-templates

      Public
      Templates and overview information for student projects
      BibTeX Style
      •0•1•0•0•Updated Aug 14, 2026Aug 14, 2026

    • navigation2

      Public
      ROS 2 Navigation Framework and System
      C++
      •
      Other
      •1.9k•1•0•0•Updated Aug 12, 2026Aug 12, 2026

    • elevation_mapping_cupy_core

      Public
      Core CuPy-based elevation mapping library extracted from elevation_mapping_cupy.
      Python
      •
      MIT License
      •2•15•0•1•Updated Aug 10, 2026Aug 10, 2026

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •17•53•1•2•Updated Aug 4, 2026Aug 4, 2026

    • kleinkram

      Public
      Kleinkram: Open Robotic Data Management
      TypeScript
      •
      MIT License
      •13•94•107•34•Updated Aug 3, 2026Aug 3, 2026

    • sru-path-aware-rl

      Public
      0•5•0•0•Updated Jul 30, 2026Jul 30, 2026

    • OrbbecSDK_ROS1

      Public
      OrbbecSDK ROS wrapper
      C++
      •
      Apache License 2.0
      •59•0•0•0•Updated Jul 27, 2026Jul 27, 2026

    • ViserDex

      Public
      Repository for ViserDex Visual Sim-to-Real Framework
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •6•31•0•0•Updated Jul 27, 2026Jul 27, 2026

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •194•1.1k•41•5•Updated Jul 25, 2026Jul 25, 2026

    • wavemap

      Public
      Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •56•7•0•0•Updated Jul 24, 2026Jul 24, 2026

    • grid_map

      Public
      Universal grid map library for mobile robotic mapping
      rosgrid-mapping
      rosgrid-mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •877•27•0•1•Updated Jul 24, 2026Jul 24, 2026

    • HesaiLidar_ROS_2.0

      Public
      C++
      •
      Other
      •151•0•0•0•Updated Jul 23, 2026Jul 23, 2026

    • ocs2

      Public
      Optimal Control for Switched Systems
      controlroboticsmpc
      controlroboticsmpcoptimal-control
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •328•1.5k•51•3•Updated Jul 20, 2026Jul 20, 2026

    • multi_robot_global_planner

      Public
      Python
      •0•1•0•0•Updated Jul 20, 2026Jul 20, 2026

    • CFEAR_Radarodometry

      Public
      Fork of CFEAR_Radarodometry to lift to ROS2 and add docker integration
      GNU General Public License v3.0
      •9•0•0•0•Updated Jul 20, 2026Jul 20, 2026

    • sru-navigation-learning

      Public
      SRU Navigation Learning - RL Training Framework
      Python
      •
      Other
      •18•108•1•0•Updated Jul 13, 2026Jul 13, 2026

    • sru-navigation-sim

      Public
      IsaacLab SRU RL Navigation Extension - SRU Project
      Python
      •
      MIT License
      •16•99•6•2•Updated Jul 13, 2026Jul 13, 2026

    • GraspDiffuser

      Public
      Python
      •
      Other
      •1•1•0•0•Updated Jul 13, 2026Jul 13, 2026

    • graspqp

      Public
      Python
      •
      MIT License
      •10•54•3•0•Updated Jul 13, 2026Jul 13, 2026

    • DexEvolve

      Public
      Python
      •
      MIT License
      •1•3•1•0•Updated Jul 12, 2026Jul 12, 2026
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