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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    292 repositories

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •18•160•3•1•Updated May 1, 2026May 1, 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
      •234•5•0•1•Updated May 1, 2026May 1, 2026

    • zed-ros2-wrapper

      Public
      ROS 2 wrapper for the ZED SDK
      C++
      •
      Apache License 2.0
      •315•1•0•0•Updated May 1, 2026May 1, 2026

    • kleinkram

      Public
      Kleinkram: Open Robotic Data Management
      TypeScript
      •
      MIT License
      •9•88•121•33•Updated Apr 30, 2026Apr 30, 2026

    • unity_ros_teleoperation

      Public
      Unity project for OpenXR control of ROS systems
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •23•150•0•0•Updated Apr 29, 2026Apr 29, 2026

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •176•921•40•5•Updated Apr 27, 2026Apr 27, 2026

    • cubemars-ak-c-drivers

      Public
      C
      •0•0•0•0•Updated Apr 27, 2026Apr 27, 2026

    • defm

      Public
      source code and trained models for DeFM (Depth Foundation Model)
      Python
      •
      Apache License 2.0
      •4•139•1•0•Updated Apr 27, 2026Apr 27, 2026

    • navigation2

      Public
      ROS 2 Navigation Framework and System
      C++
      •
      Other
      •1.8k•1•0•0•Updated Apr 25, 2026Apr 25, 2026

    • OpenWorldSAM

      Public
      OpenWorldSAM: Extending SAM2 for Universal Image Segmentation with Language Prompts
      Python
      •
      Apache License 2.0
      •5•0•0•0•Updated Apr 23, 2026Apr 23, 2026

    • rsl_rl

      Public
      A fast and simple implementation of learning algorithms for robotics.
      Python
      •
      Other
      •586•2.5k•5•4•Updated Apr 23, 2026Apr 23, 2026

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •2•19•0•2•Updated Apr 23, 2026Apr 23, 2026

    • vr_haptic_msgs

      Public
      CMake
      •
      MIT License
      •0•0•0•0•Updated Apr 22, 2026Apr 22, 2026

    • ROS-TCP-Endpoint

      Public
      ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts
      Python
      •
      Apache License 2.0
      •190•4•0•0•Updated Apr 22, 2026Apr 22, 2026

    • ROS-TCP-Connector

      Public
      C#
      •
      Apache License 2.0
      •130•1•0•0•Updated Apr 22, 2026Apr 22, 2026

    • wavemap

      Public
      Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •51•5•0•0•Updated Apr 21, 2026Apr 21, 2026

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •1•59•2•1•Updated Apr 21, 2026Apr 21, 2026

    • habitat-challenge

      Public
      Code for the habitat challenge
      Python
      •
      MIT License
      •60•0•0•0•Updated Apr 17, 2026Apr 17, 2026

    • DiskChunGS

      Public
      [RA-L 2026] DiskChunGS: Large-Scale 3D Gaussian SLAM Through Efficient Disk Chunking
      C++
      •
      Other
      •2•10•0•0•Updated Apr 16, 2026Apr 16, 2026

    • gtsam_catkin

      Public
      Catkinized version of gtsam.
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •2•7•0•1•Updated Apr 16, 2026Apr 16, 2026

    • rayen

      Public
      Imposition of Hard Convex Constraints on Neural Networks
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •12•93•1•0•Updated Apr 15, 2026Apr 15, 2026

    • DiskChunGS-Inria

      Public
      Cuda
      •
      Other
      •0•0•0•0•Updated Apr 15, 2026Apr 15, 2026

    • euler-cluster-guide

      Public
      Comprehensive guide for using Docker containers on Euler cluster at ETH Zurich
      MIT License
      •0•5•1•0•Updated Apr 15, 2026Apr 15, 2026

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •12•41•1•2•Updated Apr 13, 2026Apr 13, 2026

    • equational-theories-stage1-judge

      Public
      Official evaluation models and configuration for Stage 1 of the SAIR Mathematics Distillation Challenge: Equational Theories.
      Python
      •
      Apache License 2.0
      •3•0•0•0•Updated Apr 9, 2026Apr 9, 2026

    • GraspGen

      Public
      Official repo for GraspGen: A Diffusion-based Framework for 6-DOF Grasping
      Python
      •
      Other
      •56•2•0•0•Updated Apr 9, 2026Apr 9, 2026

    • robotic_world_model_lite

      Public
      Lightweight implementation of Robotic World Model (RWM) and Uncertainty-Aware Robotic World Model (RWM-U)
      Python
      •
      Apache License 2.0
      •12•211•0•0•Updated Apr 8, 2026Apr 8, 2026

    • robotic_world_model

      Public
      Repository for our papers: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics and Uncertainty-Aware Robotic World Model …
      Python
      •
      Apache License 2.0
      •48•601•2•0•Updated Apr 8, 2026Apr 8, 2026

    • wlr-competition-2025

      Public
      C++
      •2•39•0•0•Updated Apr 7, 2026Apr 7, 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 Apr 4, 2026Apr 4, 2026
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