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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.

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 43 3

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 1.8k 438

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1k 241

  5. open3d_slam open3d_slam Public

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

    C++ 547 57

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 611 131

Repositories

Showing 10 of 223 repositories
  • terra Public

    A grid world environment for high-level earthworks planning in JAX for RL.

    leggedrobotics/terra’s past year of commit activity
    Python 33 0 2 2 Updated Mar 31, 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 0 MIT 62 0 0 Updated Mar 31, 2025
  • elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    leggedrobotics/elevation_mapping_cupy’s past year of commit activity
    Python 611 MIT 131 30 4 Updated Mar 27, 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 1,081 272 17 5 Updated Mar 26, 2025
  • terra-baselines Public

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

    leggedrobotics/terra-baselines’s past year of commit activity
    Python 9 0 1 0 Updated Mar 26, 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 1 Apache-2.0 924 0 0 Updated Mar 26, 2025
  • leggedrobotics/message_logger’s past year of commit activity
    C++ 2 BSD-3-Clause 27 0 1 Updated Mar 26, 2025
  • Depth-Anything-V2 Public Forked from DepthAnything/Depth-Anything-V2

    [NeurIPS 2024] Depth Anything V2. A More Capable Foundation Model for Monocular Depth Estimation

    leggedrobotics/Depth-Anything-V2’s past year of commit activity
    Python 1 Apache-2.0 461 0 0 Updated Mar 26, 2025
  • waverider Public Forked from ethz-asl/waverider

    RMPs on multi-resolution occupancy maps for efficient reactive collision avoidance

    leggedrobotics/waverider’s past year of commit activity
    1 7 0 0 Updated Mar 25, 2025
  • marladona-isaac-lab Public template Forked from isaac-sim/IsaacLabExtensionTemplate

    External extenstion template based on Isaac Lab

    leggedrobotics/marladona-isaac-lab’s past year of commit activity
    Python 1 MIT 62 0 0 Updated Mar 23, 2025