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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    255 repositories

    • 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
      •189•3•0•0•Updated Sep 12, 2025Sep 12, 2025

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •1•16•0•1•Updated Sep 12, 2025Sep 12, 2025

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •0•48•2•1•Updated Sep 10, 2025Sep 10, 2025

    • nav-suite

      Public
      Navigation Suite for IsaacLab
      Python
      •
      Apache License 2.0
      •3•32•0•1•Updated Sep 9, 2025Sep 9, 2025

    • kleinkram

      Public
      Kleinkram is a Structured bag and mcap Storage Solution Developed by RSL.
      TypeScript
      •
      MIT License
      •3•17•99•21•Updated Sep 8, 2025Sep 8, 2025

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •14•124•4•1•Updated Sep 8, 2025Sep 8, 2025

    • Pretraining-in-RL

      Public template
      Master Project "Pretraining in RL"
      Python
      •
      MIT License
      •86•7•0•0•Updated Sep 7, 2025Sep 7, 2025

    • unity_ros_teleoperation

      Public
      Unity project for OpenXR control of ROS systems
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •11•77•0•0•Updated Sep 7, 2025Sep 7, 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•1•0•3•Updated Sep 5, 2025Sep 5, 2025

    • rslidar_sdk

      Public
      RoboSense LiDAR SDK for ROS & ROS2
      C++
      •
      Other
      •272•0•0•0•Updated Sep 5, 2025Sep 5, 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.
      Apache License 2.0
      •0•24•0•0•Updated Sep 5, 2025Sep 5, 2025

    • vr_haptic_msgs

      Public
      CMake
      •
      MIT License
      •0•0•0•0•Updated Sep 4, 2025Sep 4, 2025

    • ROS-TCP-Connector

      Public
      C#
      •
      Apache License 2.0
      •110•0•0•0•Updated Sep 3, 2025Sep 3, 2025

    • IsaacLabExtensionTemplate

      Public template
      External extenstion template based on Isaac Lab
      Python
      •
      Apache License 2.0
      •86•0•0•0•Updated Sep 2, 2025Sep 2, 2025

    • grand_tour_dataset

      Public
      The GrandTour Dataset: A Legged Robotics Dataset in the Wild
      Jupyter Notebook
      •2•67•9•0•Updated Sep 2, 2025Sep 2, 2025

    • rsl_rl

      Public
      A fast and simple implementation of RL algorithms, designed to run fully on GPU.
      Python
      •
      Other
      •373•1.6k•12•8•Updated Sep 2, 2025Sep 2, 2025

    • SAN_hike

      Public
      Open-vocabulary Semantic Segmentation
      Python
      •
      MIT License
      •35•1•0•0•Updated Aug 28, 2025Aug 28, 2025

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •149•718•33•3•Updated Aug 28, 2025Aug 28, 2025

    • swiftnav-ros2

      Public
      Swift Navigation's ROS2 SBP Driver
      C++
      •
      MIT License
      •8•1•0•0•Updated Aug 26, 2025Aug 26, 2025

    • dinov2

      Public
      PyTorch code and models for the DINOv2 self-supervised learning method.
      Jupyter Notebook
      •
      Apache License 2.0
      •1.1k•3•0•0•Updated Aug 23, 2025Aug 23, 2025

    • grand_tour_box

      Public
      Drivers, software and utilities for the GrandTour Boxi sensor payload.
      C++
      •
      MIT License
      •0•8•22•1•Updated Aug 22, 2025Aug 22, 2025

    • physical_terrain_parameter_learning

      Public
      Python
      •
      Other
      •2•32•0•0•Updated Aug 20, 2025Aug 20, 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
      •189•8•0•0•Updated Aug 19, 2025Aug 19, 2025

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •4•7•2•0•Updated Aug 19, 2025Aug 19, 2025

    • qed-splatter

      Public
      Python
      •
      Apache License 2.0
      •1•1•0•1•Updated Aug 19, 2025Aug 19, 2025

    • dinov3

      Public
      Reference PyTorch implementation and models for DINOv3
      Jupyter Notebook
      •
      Other
      •391•0•0•0•Updated Aug 19, 2025Aug 19, 2025

    • anymal_d_simple_description

      Public
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •6•2•0•0•Updated Aug 18, 2025Aug 18, 2025

    • hiper_low_level_control

      Public
      Makefile
      •0•0•0•0•Updated Aug 12, 2025Aug 12, 2025

    • fdm

      Public
      Learned Perceptive Forward Dynamics Model
      Python
      •
      Other
      •8•216•3•0•Updated Aug 11, 2025Aug 11, 2025

    • euler-cluster-guide

      Public
      Comprehensive guide for using Docker containers on Euler cluster at ETH Zurich
      MIT License
      •0•0•0•0•Updated Aug 7, 2025Aug 7, 2025