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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Additional Pins

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darknet_rosdarknet_rosPublic
YOLO ROS: Real-Time Object Detection for ROS
C++ 2.3k 1.2k
radiance_field_rosradiance_field_rosPublic
Implementation of Radiance Fields for Robotic Teleoperation
Python 43 3
legged_gymlegged_gymPublic
Isaac Gym Environments for Legged Robots
Python 1.8k 429
ocs2ocs2Public
Optimal Control for Switched Systems
C++ 1k 241
open3d_slamopen3d_slamPublic
Pointcloud-based graph SLAM written in C++ using open3D library.
C++ 545 57
elevation_mapping_cupyelevation_mapping_cupyPublic
Elevation Mapping on GPU.
Python 600 129

Repositories

Showing 10 of 223 repositories

interactive_navigation Public
MT: Task Planning for Interactive Navigation
leggedrobotics/interactive_navigation’s past year of commit activity
Python 15MIT0 0 0 UpdatedMar 17, 2025
terra Public
A grid world environment for high-level earthworks planning in JAX for RL.
leggedrobotics/terra’s past year of commit activity
Python 300 2 1 UpdatedMar 15, 2025
field_local_planner Public Forked fromori-drs/field_local_planner
leggedrobotics/field_local_planner’s past year of commit activity
C++ 1GPL-3.0 2 0 1 UpdatedMar 14, 2025
gtsam_catkin Public
Catkinized version of gtsam.
leggedrobotics/gtsam_catkin’s past year of commit activity
CMake 4BSD-3-Clause 2 0 0 UpdatedMar 13, 2025
elevation_mapping_cupy Public
Elevation Mapping on GPU.
leggedrobotics/elevation_mapping_cupy’s past year of commit activity
Python 600MIT 129 30 4 UpdatedMar 13, 2025
robot_self_filter Public
ros2 version of the robot_self_filter package.
leggedrobotics/robot_self_filter’s past year of commit activity
C++00 0 0 UpdatedMar 13, 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 1,029 253 18 5 UpdatedMar 13, 2025
dinov2 Public Forked fromfacebookresearch/dinov2
PyTorch code and models for the DINOv2 self-supervised learning method.
leggedrobotics/dinov2’s past year of commit activity
Jupyter Notebook 1Apache-2.0 908 0 0 UpdatedMar 12, 2025
Depth-Anything-V2 Public Forked fromDepthAnything/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 1Apache-2.0 441 0 0 UpdatedMar 11, 2025
Pretraining-in-RL Public template Forked fromisaac-sim/IsaacLabExtensionTemplate
Master Project "Pretraining in RL"
leggedrobotics/Pretraining-in-RL’s past year of commit activity
Python0MIT 60 0 0 UpdatedMar 7, 2025