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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    270 repositories

    • navitrace_evaluation

      Public
      Jupyter Notebook
      •
      MIT License
      •1•22•0•0•Updated Jan 5, 2026Jan 5, 2026

    • sru-pytorch-spatial-learning

      Public
      Spatially-Enhanced Recurrent Units (SRU) - PyTorch Implementation
      Python
      •
      MIT License
      •1•6•0•0•Updated Jan 5, 2026Jan 5, 2026

    • sru-robot-deployment

      Public
      Robot Deployment - SRU Navigation on Unitree B2W
      Python
      •0•2•0•0•Updated Jan 5, 2026Jan 5, 2026

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •162•817•36•6•Updated Jan 5, 2026Jan 5, 2026

    • sru-depth-pretraining

      Public
      Depth Perception Pretraining - SRU Project
      Python
      •
      MIT License
      •1•6•0•0•Updated Jan 5, 2026Jan 5, 2026

    • ocs2

      Public
      Optimal Control for Switched Systems
      controlroboticsmpcoptimal-control
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •287•1.2k•50•5•Updated Dec 30, 2025Dec 30, 2025

    • unity_ros_teleoperation

      Public
      Unity project for OpenXR control of ROS systems
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •20•117•0•1•Updated Dec 29, 2025Dec 29, 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
      •176•2•0•0•Updated Dec 26, 2025Dec 26, 2025

    • livox_ros_driver2

      Public
      Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
      C++
      •
      Other
      •509•3•0•0•Updated Dec 26, 2025Dec 26, 2025

    • vr_haptic_msgs

      Public
      CMake
      •
      MIT License
      •0•0•0•0•Updated Dec 25, 2025Dec 25, 2025

    • kleinkram

      Public
      Kleinkram: Open Robotic Data Management
      TypeScript
      •
      MIT License
      •5•55•111•22•Updated Dec 22, 2025Dec 22, 2025

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •15•149•3•2•Updated Dec 22, 2025Dec 22, 2025

    • marladona-isaac-lab

      Public
      External extenstion template based on Isaac Lab
      Python
      •
      Apache License 2.0
      •4•25•0•0•Updated Dec 22, 2025Dec 22, 2025

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •2•16•0•2•Updated Dec 19, 2025Dec 19, 2025

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •7•29•1•0•Updated Dec 19, 2025Dec 19, 2025

    • zed-ros-wrapper

      Public
      Fork of the ROS wrapper for the ZED SDK
      C++
      •
      MIT License
      •0•0•0•0•Updated Dec 17, 2025Dec 17, 2025

    • ocs2_robotic_assets

      Public
      Various robotic assets for OCS2 Toolbox
      CMake
      •
      Apache License 2.0
      •22•30•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
      •19•398•2•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
      •465•38•0•0•Updated Dec 11, 2025Dec 11, 2025

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •1•55•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
      •17•316•0•0•Updated Dec 9, 2025Dec 9, 2025

    • .github

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

    • hesai_lidar_ros_driver

      Public
      A general ROS driver for Hesai LiDARs
      C++
      •109•1•0•0•Updated Dec 4, 2025Dec 4, 2025

    • hesai_lidar_sdk

      Public
      A general SDK for Hesai LiDARs
      C++
      •
      Other
      •71•1•0•0•Updated Dec 4, 2025Dec 4, 2025

    • rsl_rl

      Public
      A fast and simple implementation of learning algorithms for robotics.
      Python
      •
      Other
      •465•2k•10•5•Updated Nov 28, 2025Nov 28, 2025

    • viplanner

      Public
      ViPlanner: Visual Semantic Imperative Learning for Local Navigation
      Python
      •
      Other
      •56•599•18•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•12•35•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
      •215•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
      •32•1•0•0•Updated Nov 8, 2025Nov 8, 2025

    • recastnavigation

      Public
      Industry-standard navigation-mesh toolset for games
      C++
      •
      zlib License
      •1.8k•1•0•0•Updated Nov 2, 2025Nov 2, 2025