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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    226 repositories

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •0•34•2•2•Updated Apr 17, 2025Apr 17, 2025

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •0•10•1•1•Updated Apr 16, 2025Apr 16, 2025

    • Pretraining-in-RL

      Public template
      Master Project "Pretraining in RL"
      Python
      •
      MIT License
      •65•1•0•0•Updated Apr 15, 2025Apr 15, 2025

    • radiance_field_ros

      Public
      Implementation of Radiance Fields for Robotic Teleoperation
      roboticsrosnerfteleoperationgaussian-splatting
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •4•45•0•0•Updated Apr 15, 2025Apr 15, 2025

    • unity_ros_teleoperation

      Public
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •4•38•1•0•Updated Apr 15, 2025Apr 15, 2025

    • waverider

      Public
      RMPs on multi-resolution occupancy maps for efficient reactive collision avoidance
      7•3•0•0•Updated Apr 15, 2025Apr 15, 2025

    • rslidar_sdk

      Public
      RoboSense LiDAR SDK for ROS & ROS2
      C++
      •
      Other
      •244•0•0•0•Updated Apr 15, 2025Apr 15, 2025

    • dinov2

      Public
      PyTorch code and models for the DINOv2 self-supervised learning method.
      Jupyter Notebook
      •
      Apache License 2.0
      •931•2•0•0•Updated Apr 14, 2025Apr 14, 2025

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •5•75•1•0•Updated Apr 13, 2025Apr 13, 2025

    • small_gicp

      Public
      Efficient and parallel algorithms for point cloud registration [C++, Python]
      C++
      •
      MIT License
      •68•1•0•0•Updated Apr 11, 2025Apr 11, 2025

    • rsl_rl

      Public
      Fast and simple implementation of RL algorithms, designed to run fully on GPU.
      Python
      •
      Other
      •286•1.1k•16•4•Updated Apr 9, 2025Apr 9, 2025

    • Livox-LiDAR-SDK2

      Public
      Drivers for receiving LiDAR data and controlling lidar, support Lidar HAP and Mid-360.
      C++
      •
      Other
      •129•0•0•0•Updated Apr 7, 2025Apr 7, 2025

    • anybotics_velodyne

      Public
      ROS support for Velodyne 3D LIDARs
      C++
      •
      Other
      •661•1•0•0•Updated Apr 7, 2025Apr 7, 2025

    • livox_ros_driver2

      Public
      Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
      C++
      •
      Other
      •314•3•0•0•Updated Apr 7, 2025Apr 7, 2025

    • novatel_oem7_driver

      Public
      ROS Driver for NovAtel OEM7 GNSS/SPAN Receivers
      C++
      •
      MIT License
      •61•1•0•0•Updated Apr 7, 2025Apr 7, 2025

    • hesai_lidar_ros_driver

      Public
      A general ROS driver for Hesai LiDARs
      C++
      •59•1•0•0•Updated Apr 7, 2025Apr 7, 2025

    • hesai_lidar_sdk

      Public
      A general SDK for Hesai LiDARs
      C++
      •
      Other
      •44•1•0•0•Updated Apr 7, 2025Apr 7, 2025

    • gtsam_catkin

      Public
      Catkinized version of gtsam.
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •2•5•0•0•Updated Apr 6, 2025Apr 6, 2025

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •131•617•31•4•Updated Apr 5, 2025Apr 5, 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
      •151•4•0•0•Updated Apr 4, 2025Apr 4, 2025

    • wavemap

      Public
      Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •47•3•0•0•Updated Apr 2, 2025Apr 2, 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
      •277•11•0•0•Updated Apr 1, 2025Apr 1, 2025

    • message_logger

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •27•2•0•1•Updated Mar 26, 2025Mar 26, 2025

    • Depth-Anything-V2

      Public
      [NeurIPS 2024] Depth Anything V2. A More Capable Foundation Model for Monocular Depth Estimation
      Python
      •
      Apache License 2.0
      •475•2•0•0•Updated Mar 25, 2025Mar 25, 2025

    • marladona-isaac-lab

      Public template
      External extenstion template based on Isaac Lab
      Python
      •
      MIT License
      •65•2•0•0•Updated Mar 23, 2025Mar 23, 2025

    • field_local_planner

      Public
      C++
      •
      GNU General Public License v3.0
      •3•2•0•1•Updated Mar 14, 2025Mar 14, 2025

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •0•1•0•0•Updated Mar 13, 2025Mar 13, 2025

    • obstacle-avoidant-leader-following

      Public
      HTML
      •0•1•1•0•Updated Mar 4, 2025Mar 4, 2025

    • grid_map_filters_drs

      Public
      C++
      •
      GNU General Public License v3.0
      •2•1•0•0•Updated Mar 3, 2025Mar 3, 2025

    • plr-exercise

      Public
      Python
      •
      MIT License
      •33•8•1•3•Updated Feb 28, 2025Feb 28, 2025