Skip to content

@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

Change the repository type filter

All

    Repositories list

    295 repositories

    • wavemap

      Public
      Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •54•5•0•0•Updated Jun 17, 2026Jun 17, 2026

    • zed-ros2-wrapper

      Public
      ROS 2 wrapper for the ZED SDK
      C++
      •
      Apache License 2.0
      •328•1•0•0•Updated Jun 16, 2026Jun 16, 2026

    • kleinkram

      Public
      Kleinkram: Open Robotic Data Management
      TypeScript
      •
      MIT License
      •10•89•121•27•Updated Jun 15, 2026Jun 15, 2026

    • livox_ros_driver2

      Public
      Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
      C++
      •
      Other
      •619•3•0•0•Updated Jun 15, 2026Jun 15, 2026

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •183•974•40•5•Updated Jun 15, 2026Jun 15, 2026

    • navitrace_evaluation

      Public
      Jupyter Notebook
      •
      MIT License
      •1•34•0•0•Updated Jun 14, 2026Jun 14, 2026

    • open3d_slam_private

      Public
      This is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.
      C++
      •2•2•0•0•Updated Jun 13, 2026Jun 13, 2026

    • direct_lidar_inertial_odometry

      Public
      [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise…
      C++
      •
      MIT License
      •247•5•0•0•Updated Jun 13, 2026Jun 13, 2026

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •19•169•3•1•Updated Jun 13, 2026Jun 13, 2026

    • FAST_LIO_LOCALIZATION_HUMANOID

      Public
      Localization by LiDAR for Humanoid(like Unitree G1)
      C++
      •79•0•0•0•Updated Jun 11, 2026Jun 11, 2026

    • unity_ros_teleoperation

      Public
      Unity project for OpenXR control of ROS systems
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •24•161•0•0•Updated Jun 10, 2026Jun 10, 2026

    • gtsam_catkin

      Public
      Catkinized version of gtsam.
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •2•7•0•1•Updated Jun 9, 2026Jun 9, 2026

    • rsl_rl

      Public
      A fast and simple implementation of learning algorithms for robotics.
      Python
      •
      Other
      •619•2.7k•4•0•Updated Jun 4, 2026Jun 4, 2026

    • rsl_rl_sac

      Public
      Bridging the Gap: Enabling Soft Actor-Critic for High Performance Legged Locomotion
      Python
      •
      Other
      •3•73•0•0•Updated Jun 2, 2026Jun 2, 2026

    • OpenWorldSAM

      Public
      OpenWorldSAM: Extending SAM2 for Universal Image Segmentation with Language Prompts
      Python
      •
      Apache License 2.0
      •6•1•0•0•Updated Jun 2, 2026Jun 2, 2026

    • pace-sim2real

      Public
      PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encoders.
      Python
      •
      Apache License 2.0
      •52•537•1•0•Updated Jun 1, 2026Jun 1, 2026

    • TactSpace

      Public
      Python
      •0•0•0•0•Updated May 29, 2026May 29, 2026

    • field_local_planner

      Public
      C++
      •
      GNU General Public License v3.0
      •6•16•0•0•Updated May 27, 2026May 27, 2026

    • wild_visual_navigation

      Public
      Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision
      machine-learningcomputer-visionrobotics
      machine-learningcomputer-visionroboticsnavigationonline-learninglegged-robotsrobot-navigationself-supervised-learningtraversabilitytraversability-estimation
      Python
      •
      MIT License
      •26•289•7•2•Updated May 27, 2026May 27, 2026

    • recastnavigation

      Public
      Industry-standard navigation-mesh toolset for games
      C++
      •
      zlib License
      •1.8k•2•0•0•Updated May 26, 2026May 26, 2026

    • less-is-more

      Public
      Codebase for "Less is More 🍋: Scalable Visual Navigation from Limited Data"
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •4•25•1•0•Updated May 24, 2026May 24, 2026

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •2•20•0•3•Updated May 22, 2026May 22, 2026

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •1•58•2•2•Updated May 22, 2026May 22, 2026

    • compslam_subt

      Public
      The official implementation of the DARPA SubT winning LiDAR mapping and odometry solution.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•14•0•1•Updated May 15, 2026May 15, 2026

    • ocs2

      Public
      Optimal Control for Switched Systems
      controlroboticsmpc
      controlroboticsmpcoptimal-control
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •329•1.4k•51•3•Updated May 14, 2026May 14, 2026

    • ROS-TCP-Connector

      Public
      C#
      •
      Apache License 2.0
      •131•1•0•0•Updated May 13, 2026May 13, 2026

    • swiftnav-ros2

      Public
      Swift Navigation's ROS2 SBP Driver
      C++
      •
      MIT License
      •9•1•0•0•Updated May 11, 2026May 11, 2026

    • graspqp

      Public
      Python
      •
      MIT License
      •8•42•3•0•Updated May 11, 2026May 11, 2026

    • signal_logger

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •7•1•0•0•Updated May 8, 2026May 8, 2026

    • dinov2

      Public
      PyTorch code and models for the DINOv2 self-supervised learning method.
      Jupyter Notebook
      •
      Apache License 2.0
      •1.2k•4•0•0•Updated May 7, 2026May 7, 2026
    ProTip! When viewing an organization's repositories, you can use the props. filter to filter by custom property.
    ⚡