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
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
Robotic Systems Lab - Legged Robotics at ETH Zürich's Repositories
leggedrobotics/legged_gym
Isaac Gym Environments for Legged Robots
leggedrobotics/viplanner
ViPlanner: Visual Semantic Imperative Learning for Local Navigation
leggedrobotics/wild_visual_navigation
Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision
leggedrobotics/perfectlyconstrained
Official implementations from the paper "Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild"
leggedrobotics/radiance_field_ros
Implementation of Radiance Fields for Robotic Teleoperation
leggedrobotics/foci
Fast, orientation-aware trajectory planning using a novel Gaussian overlap-based collision formulation, modeling both robot and environment as Gaussian Splat.
leggedrobotics/ethercat_device_configurator
Manages setup yaml files for the RSL ethercat infrastructure
leggedrobotics/legged_control
NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls
leggedrobotics/marladona-isaac-lab
External extenstion template based on Isaac Lab
leggedrobotics/voxblox
A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
leggedrobotics/field_local_planner
leggedrobotics/gtsam_catkin
Catkinized version of gtsam.
leggedrobotics/waverider
RMPs on multi-resolution occupancy maps for efficient reactive collision avoidance
leggedrobotics/obstacle-avoidant-leader-following
leggedrobotics/wavemap
Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping
leggedrobotics/grid_map_filters_drs
leggedrobotics/message_logger
leggedrobotics/small_gicp
Efficient and parallel algorithms for point cloud registration [C++, Python]
leggedrobotics/ethz_piksi_ros
ROS drivers for the Piksi RTK GPS module
leggedrobotics/LP-based-navigation
External extension template based on Isaac Lab
leggedrobotics/mav_active_3d_planning
Modular framework for online informative path planning.
leggedrobotics/rsl_drive_sdk
leggedrobotics/tf_bag
Utilities to transparently use tf data recorded with rosbag in Python scripts
leggedrobotics/benchmark_throwaway3
How to create a challenge on EvalAI?
leggedrobotics/benchmark_throwaway4
How to create a challenge on EvalAI?
leggedrobotics/gfm_distillation
leggedrobotics/habitat-lab
A modular high-level library to train embodied AI agents across a variety of tasks and environments.
leggedrobotics/libsbp_catkin
Swiftnav SBP Library
leggedrobotics/rs_driver
RoboSense LiDAR cross-platform driver kernel for advanced development
leggedrobotics/tier4_automotive_hdr_camera
This repository contains the device driver for the TIER IV Automotive HDR Cameras