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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    268 repositories

    • kleinkram

      Public
      Kleinkram: Open Robotic Data Management
      TypeScript
      •
      MIT License
      •4•48•110•7•Updated Dec 13, 2025Dec 13, 2025

    • ocs2_ros2

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•1•0•0•Updated Dec 12, 2025Dec 12, 2025

    • ocs2_robotic_assets

      Public
      Various robotic assets for OCS2 Toolbox
      CMake
      •
      Apache License 2.0
      •22•29•0•0•Updated Dec 12, 2025Dec 12, 2025

    • robotic_world_model

      Public
      Repository for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics
      Python
      •
      Apache License 2.0
      •16•347•0•0•Updated Dec 12, 2025Dec 12, 2025

    • rsl_rl_rwm

      Public
      Algorithm implementation for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics
      Python
      •
      Other
      •451•22•0•0•Updated Dec 11, 2025Dec 11, 2025

    • unity_ros_teleoperation

      Public
      Unity project for OpenXR control of ROS systems
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •17•107•0•1•Updated Dec 11, 2025Dec 11, 2025

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •2•16•0•2•Updated Dec 9, 2025Dec 9, 2025

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •1•54•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
      •13•257•0•0•Updated Dec 9, 2025Dec 9, 2025

    • .github

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

    • livox_ros_driver2

      Public
      Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
      C++
      •
      Other
      •488•3•0•0•Updated Dec 4, 2025Dec 4, 2025

    • hesai_lidar_ros_driver

      Public
      A general ROS driver for Hesai LiDARs
      C++
      •103•1•0•0•Updated Dec 4, 2025Dec 4, 2025

    • hesai_lidar_sdk

      Public
      A general SDK for Hesai LiDARs
      C++
      •
      Other
      •68•1•0•0•Updated Dec 4, 2025Dec 4, 2025

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •162•801•36•6•Updated Dec 2, 2025Dec 2, 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
      •173•2•0•0•Updated Dec 1, 2025Dec 1, 2025

    • rsl_rl

      Public
      A fast and simple implementation of learning algorithms for robotics.
      Python
      •
      Other
      •451•2k•6•4•Updated Nov 28, 2025Nov 28, 2025

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •15•148•3•1•Updated Nov 26, 2025Nov 26, 2025

    • viplanner

      Public
      ViPlanner: Visual Semantic Imperative Learning for Local Navigation
      Python
      •
      Other
      •56•590•17•3•Updated Nov 20, 2025Nov 20, 2025

    • grand_tour_box

      Public
      Drivers, software and utilities for the GrandTour Boxi sensor payload.
      C++
      •
      MIT License
      •1•11•30•2•Updated Nov 17, 2025Nov 17, 2025

    • direct_lidar_inertial_odometry

      Public
      [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
      •210•4•0•0•Updated Nov 17, 2025Nov 17, 2025

    • GraspGen

      Public
      Official repo for GraspGen: A Diffusion-based Framework for 6-DOF Grasping
      Python
      •
      Other
      •29•1•0•0•Updated Nov 8, 2025Nov 8, 2025

    • navitrace_evaluation

      Public
      Jupyter Notebook
      •
      MIT License
      •1•18•0•0•Updated Nov 4, 2025Nov 4, 2025

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •6•13•2•0•Updated Nov 3, 2025Nov 3, 2025

    • recastnavigation

      Public
      Industry-standard navigation-mesh toolset for games
      C++
      •
      zlib License
      •1.7k•0•0•0•Updated Nov 2, 2025Nov 2, 2025

    • fast_LIMO

      Public
      A tightly coupled and real time LiDAR-Inertial SLAM algorithm. Based upon LIMO-Velo and FAST_LIO projects.
      C++
      •
      GNU General Public License v3.0
      •29•2•0•0•Updated Oct 27, 2025Oct 27, 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
      •210•12•0•0•Updated Oct 27, 2025Oct 27, 2025

    • anymal_d_simple_description

      Public
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •12•3•0•0•Updated Oct 27, 2025Oct 27, 2025

    • DEXTRAH

      Public
      DEXTRAH
      Python
      •
      Other
      •8•0•0•0•Updated Oct 24, 2025Oct 24, 2025

    • nav-suite

      Public
      Navigation Suite for IsaacLab
      Python
      •
      Apache License 2.0
      •7•61•0•0•Updated Oct 20, 2025Oct 20, 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++
      •2•2•0•3•Updated Oct 11, 2025Oct 11, 2025