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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 59 5

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2.4k 513

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.2k 272

  5. open3d_slam open3d_slam Public

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

    C++ 580 60

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 745 153

Repositories

Showing 10 of 259 repositories
  • kleinkram Public

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

    leggedrobotics/kleinkram’s past year of commit activity
    TypeScript 19 MIT 3 104 (2 issues need help) 4 Updated Oct 10, 2025
  • rsl_rl Public

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

    leggedrobotics/rsl_rl’s past year of commit activity
    Python 1,710 393 13 8 Updated Oct 8, 2025
  • elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    leggedrobotics/elevation_mapping_cupy’s past year of commit activity
    Python 745 MIT 153 34 4 Updated Oct 7, 2025
  • holistic_fusion Public

    Official repository for holistic fusion.

    leggedrobotics/holistic_fusion’s past year of commit activity
    C++ 129 BSD-3-Clause 14 3 1 Updated Oct 6, 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 1 Updated Oct 2, 2025
  • euler-cluster-guide Public

    Comprehensive guide for using Docker containers on Euler cluster at ETH Zurich

    leggedrobotics/euler-cluster-guide’s past year of commit activity
    0 MIT 0 0 0 Updated Oct 2, 2025
  • gfm_distillation Public
    leggedrobotics/gfm_distillation’s past year of commit activity
    Python 0 0 0 0 Updated Sep 29, 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 1,107 0 0 Updated Sep 29, 2025
  • robot_self_filter Public

    ros2 version of the robot_self_filter package.

    leggedrobotics/robot_self_filter’s past year of commit activity
    C++ 9 4 2 0 Updated Sep 25, 2025
  • graspqp Public
    leggedrobotics/graspqp’s past year of commit activity
    Python 9 MIT 0 2 0 Updated Sep 24, 2025
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