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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 45 4

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2k 448

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1k 246

  5. open3d_slam open3d_slam Public

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

    C++ 553 56

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 625 133

Repositories

Showing 10 of 233 repositories
  • habitat-lab Public Forked from facebookresearch/habitat-lab

    A modular high-level library to train embodied AI agents across a variety of tasks and environments.

    leggedrobotics/habitat-lab’s past year of commit activity
    Python 0 MIT 561 0 0 Updated May 10, 2025
  • gtsam_catkin Public

    Catkinized version of gtsam.

    leggedrobotics/gtsam_catkin’s past year of commit activity
    CMake 5 BSD-3-Clause 2 0 0 Updated May 9, 2025
  • rsl_rl Public

    Fast and simple implementation of RL algorithms, designed to run fully on GPU.

    leggedrobotics/rsl_rl’s past year of commit activity
    Python 1,210 294 18 5 Updated May 9, 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 38 0 2 1 Updated May 9, 2025
  • unity_ros_teleoperation Public
    leggedrobotics/unity_ros_teleoperation’s past year of commit activity
    C# 46 BSD-3-Clause 6 3 0 Updated May 9, 2025
  • elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    leggedrobotics/elevation_mapping_cupy’s past year of commit activity
    Python 625 MIT 133 31 4 Updated May 9, 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 3 MIT 69 0 0 Updated May 8, 2025
  • anymal_d_simple_description Public Forked from ANYbotics/anymal_d_simple_description
    leggedrobotics/anymal_d_simple_description’s past year of commit activity
    CMake 2 BSD-3-Clause 6 0 0 Updated May 8, 2025
  • gfm_distillation Public
    leggedrobotics/gfm_distillation’s past year of commit activity
    0 0 0 0 Updated May 7, 2025
  • terra-baselines Public

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

    leggedrobotics/terra-baselines’s past year of commit activity
    Python 11 0 1 0 Updated May 7, 2025
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