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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++ 2.4k 1.2k

  2. radiance_field_ros radiance_field_ros Public

    Implementation of Radiance Fields for Robotic Teleoperation

    Python 60 7

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2.5k 527

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.2k 281

  5. open3d_slam open3d_slam Public

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

    C++ 586 61

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 786 162

Repositories

Showing 10 of 267 repositories
  • kleinkram Public

    Kleinkram: Open Robotic Data Management

    leggedrobotics/kleinkram’s past year of commit activity
    TypeScript 39 MIT 3 118 (2 issues need help) 5 Updated Nov 28, 2025
  • rsl_rl Public

    A fast and simple implementation of learning algorithms for robotics.

    leggedrobotics/rsl_rl’s past year of commit activity
    Python 1,904 439 4 3 Updated Nov 28, 2025
  • unity_ros_teleoperation Public

    Unity project for OpenXR control of ROS systems

    leggedrobotics/unity_ros_teleoperation’s past year of commit activity
    C# 104 BSD-3-Clause 16 0 0 Updated Nov 28, 2025
  • terra-baselines Public

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

    leggedrobotics/terra-baselines’s past year of commit activity
    Python 16 2 0 2 Updated Nov 27, 2025
  • rsl_rl_rwm Public Forked from leggedrobotics/rsl_rl

    Algorithm implementation for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics

    leggedrobotics/rsl_rl_rwm’s past year of commit activity
    Python 7 439 0 0 Updated Nov 27, 2025
  • holistic_fusion Public

    Official repository for holistic fusion.

    leggedrobotics/holistic_fusion’s past year of commit activity
    C++ 145 BSD-3-Clause 15 3 1 Updated Nov 27, 2025
  • robotic_world_model Public

    Repository for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics

    leggedrobotics/robotic_world_model’s past year of commit activity
    Python 161 Apache-2.0 5 3 0 Updated Nov 26, 2025
  • elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    leggedrobotics/elevation_mapping_cupy’s past year of commit activity
    Python 786 MIT 162 36 6 Updated Nov 25, 2025
  • viplanner Public

    ViPlanner: Visual Semantic Imperative Learning for Local Navigation

    leggedrobotics/viplanner’s past year of commit activity
    Python 578 56 17 3 Updated Nov 21, 2025
  • grand_tour_box Public

    Drivers, software and utilities for the GrandTour Boxi sensor payload.

    leggedrobotics/grand_tour_box’s past year of commit activity
    C++ 11 MIT 1 30 2 Updated Nov 18, 2025
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