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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 56 5

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2.1k 471

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.1k 255

  5. open3d_slam open3d_slam Public

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

    C++ 562 58

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 660 137

Repositories

Showing 10 of 239 repositories
  • physical_terrain_parameter_learning Public
    leggedrobotics/physical_terrain_parameter_learning’s past year of commit activity
    Python 19 1 0 0 Updated Jul 3, 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 5 MIT 74 0 0 Updated Jul 3, 2025
  • terra Public

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

    leggedrobotics/terra’s past year of commit activity
    Python 43 0 3 0 Updated Jul 3, 2025
  • holistic_fusion Public

    Official repository for holistic fusion.

    leggedrobotics/holistic_fusion’s past year of commit activity
    C++ 99 BSD-3-Clause 12 2 2 Updated Jul 3, 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.

    leggedrobotics/open3d_slam_private’s past year of commit activity
    C++ 1 1 0 3 Updated Jul 3, 2025
  • foci Public

    Fast, orientation-aware trajectory planning using a novel Gaussian overlap-based collision formulation, modeling both robot and environment as Gaussian Splat.

    leggedrobotics/foci’s past year of commit activity
    Python 10 MIT 0 0 0 Updated Jul 2, 2025
  • terra-baselines Public

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

    leggedrobotics/terra-baselines’s past year of commit activity
    Python 13 0 0 0 Updated Jul 2, 2025
  • elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    leggedrobotics/elevation_mapping_cupy’s past year of commit activity
    Python 660 MIT 137 32 4 Updated Jul 2, 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 1,021 0 0 Updated Jul 2, 2025
  • qed-splatter Public
    leggedrobotics/qed-splatter’s past year of commit activity
    Python 0 Apache-2.0 1 0 1 Updated Jul 1, 2025
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