leggedrobotics
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
A 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
leggedrobotics's Repositories
leggedrobotics/rsl_rl
A fast and simple implementation of RL algorithms, designed to run fully on GPU.
leggedrobotics/elevation_mapping_cupy
Elevation Mapping on GPU.
leggedrobotics/holistic_fusion
Official repository for holistic fusion.
leggedrobotics/pace-sim2real
PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encoders.
leggedrobotics/unity_ros_teleoperation
Unity project for OpenXR control of ROS systems
leggedrobotics/grand_tour_dataset
The GrandTour Dataset: A Legged Robotics Dataset in the Wild
leggedrobotics/terra
A grid world environment for high-level earthworks planning in JAX for RL.
leggedrobotics/nav-suite
Navigation Suite for IsaacLab
leggedrobotics/physical_terrain_parameter_learning
leggedrobotics/kleinkram
Kleinkram is a Structured bag and mcap Storage Solution Developed by RSL.
leggedrobotics/terra-baselines
Train, visualize, and evaluate RL policies for the Terra environment.
leggedrobotics/grand_tour_box
Drivers, software and utilities for the GrandTour Boxi sensor payload.
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/robot_self_filter
ros2 version of the robot_self_filter package.
leggedrobotics/Pretraining-in-RL
Master Project "Pretraining in RL"
leggedrobotics/direct_lidar_inertial_odometry
[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/dinov2
PyTorch code and models for the DINOv2 self-supervised learning method.
leggedrobotics/wlr-competition-2025
leggedrobotics/graspqp
leggedrobotics/IsaacLabExtensionTemplate
External extenstion template based on Isaac Lab
leggedrobotics/open3d_slam_private
This is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.
leggedrobotics/qed-splatter
leggedrobotics/SAN_hike
Open-vocabulary Semantic Segmentation
leggedrobotics/swiftnav-ros2
Swift Navigation's ROS2 SBP Driver
leggedrobotics/dinov3
Reference PyTorch implementation and models for DINOv3
leggedrobotics/gfm_distillation
leggedrobotics/ROS-TCP-Connector
leggedrobotics/rslidar_sdk
RoboSense LiDAR SDK for ROS & ROS2
leggedrobotics/vr_haptic_msgs
leggedrobotics/wlr-competition-2025-IsaacLab