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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 57 5

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2.2k 480

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.1k 257

  5. open3d_slam open3d_slam Public

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

    C++ 564 58

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 666 138

Repositories

Showing 10 of 241 repositories
  • 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 16, 2025
  • terra-baselines Public

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

    leggedrobotics/terra-baselines’s past year of commit activity
    Python 14 0 0 0 Updated Jul 16, 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 45 0 3 0 Updated Jul 16, 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 1,031 0 0 Updated Jul 15, 2025
  • grand_tour_dataset Public

    The GrandTour Dataset: A Legged Robotics Dataset in the Wild

    leggedrobotics/grand_tour_dataset’s past year of commit activity
    Jupyter Notebook 48 0 3 2 Updated Jul 15, 2025
  • field_local_planner Public Forked from ori-drs/field_local_planner
    leggedrobotics/field_local_planner’s past year of commit activity
    C++ 8 GPL-3.0 5 0 0 Updated Jul 15, 2025
  • kleinkram Public

    Kleinkram is a Structured bag and mcap Storage Solution Developed by RSL.

    leggedrobotics/kleinkram’s past year of commit activity
    TypeScript 14 MIT 0 93 (1 issue needs help) 19 Updated Jul 14, 2025
  • physical_terrain_parameter_learning Public
    leggedrobotics/physical_terrain_parameter_learning’s past year of commit activity
    Python 24 1 0 0 Updated Jul 15, 2025
  • qed-splatter Public
    leggedrobotics/qed-splatter’s past year of commit activity
    Python 1 Apache-2.0 1 0 1 Updated Jul 10, 2025
  • gfm_distillation Public
    leggedrobotics/gfm_distillation’s past year of commit activity
    Python 0 0 0 0 Updated Jul 9, 2025
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