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.
Zürich
Pinned Repositories
darknet_ros
YOLO ROS: Real-Time Object Detection for ROS
elevation_mapping_cupy
Elevation Mapping on GPU.
legged_gym
Isaac Gym Environments for Legged Robots
ocs2
Optimal Control for Switched Systems
open3d_slam
Pointcloud-based graph SLAM written in C++ using open3D library.
radiance_field_ros
Implementation of Radiance Fields for Robotic Teleoperation
ros_best_practices
Best practices, conventions, and tricks for ROS
rsl_rl
Fast and simple implementation of RL algorithms, designed to run fully on GPU.
se2_navigation
Pure Pursuit Control and SE(2) Planning
viplanner
ViPlanner: Visual Semantic Imperative Learning for Local Navigation
Robotic Systems Lab - Legged Robotics at ETH Zürich's Repositories
leggedrobotics/rsl_rl
Fast and simple implementation of RL algorithms, designed to run fully on GPU.
leggedrobotics/elevation_mapping_cupy
Elevation Mapping on GPU.
leggedrobotics/viplanner
ViPlanner: Visual Semantic Imperative Learning for Local Navigation
leggedrobotics/iPlanner
iPlanner: Imperative Path Planning. An end-to-end learning planning framework using a novel unsupervised imperative learning approach
leggedrobotics/terra
A grid world environment for high-level earthworks planning in JAX for RL.
leggedrobotics/interactive_navigation
MT: Task Planning for Interactive Navigation
leggedrobotics/terra-baselines
Train, visualize, and evaluate RL policies for the Terra environment.
leggedrobotics/plr-exercise
leggedrobotics/nimbro_network
ROS network stack: Topic/service transport over unreliable network connections
leggedrobotics/rsl_panoptic_mapping
leggedrobotics/gtsam_catkin
Catkinized version of gtsam.
leggedrobotics/dlio
Fork of [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.
leggedrobotics/identifying_terrain_physical_parameters_webpage
https://leggedrobotics.github.io/identifying_terrain_physical_parameters_webpage/
leggedrobotics/physical_terrain_parameter_learning
leggedrobotics/semantic_front_end_filter
leggedrobotics/Depth-Anything-V2
[NeurIPS 2024] Depth Anything V2. A More Capable Foundation Model for Monocular Depth Estimation
leggedrobotics/dinov2
PyTorch code and models for the DINOv2 self-supervised learning method.
leggedrobotics/field_local_planner
leggedrobotics/ml-depth-pro
Depth Pro: Sharp Monocular Metric Depth in Less Than a Second.
leggedrobotics/anybotics_velodyne
ROS support for Velodyne 3D LIDARs
leggedrobotics/grid_map_filters_drs
leggedrobotics/hesai_lidar_ros_driver
A general ROS driver for Hesai LiDARs
leggedrobotics/hesai_lidar_sdk
A general SDK for Hesai LiDARs
leggedrobotics/marladona-isaac-lab
External extenstion template based on Isaac Lab
leggedrobotics/obstacle-avoidant-leader-following
leggedrobotics/Pretraining-in-RL
Master Project "Pretraining in RL"
leggedrobotics/rffr.github.io
leggedrobotics/robot_self_filter
ros2 version of the robot_self_filter package.
leggedrobotics/robowrangler
Code accompanying the paper "RoboWrangler: Toward Rope-based Grasping for Mobile Manipulation", accepted for publication at IEEE RoboSoft 2025
leggedrobotics/ros2_exam_2025