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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    280 repositories

    • kleinkram

      Public
      Kleinkram: Open Robotic Data Management
      TypeScript
      •
      MIT License
      •9•73•113•22•Updated Mar 3, 2026Mar 3, 2026

    • rsl_rl

      Public
      A fast and simple implementation of learning algorithms for robotics.
      Python
      •
      Other
      •531•2.3k•7•4•Updated Mar 3, 2026Mar 3, 2026

    • ocs2

      Public
      Optimal Control for Switched Systems
      controlroboticsmpcoptimal-control
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •298•1.3k•52•4•Updated Mar 2, 2026Mar 2, 2026

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •17•153•3•5•Updated Mar 2, 2026Mar 2, 2026

    • timo_coverage_planner

      Public
      The coverage Planner developed during MSc thesis of Timo Schönegg
      Python
      •0•0•0•0•Updated Mar 1, 2026Mar 1, 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 Feb 28, 2026Feb 28, 2026

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •166•854•39•5•Updated Feb 27, 2026Feb 27, 2026

    • warp

      Public
      Warp (suited for ALMA and ANYmal)
      HTML
      •
      Other
      •447•0•0•0•Updated Feb 26, 2026Feb 26, 2026

    • grand_tour_dataset

      Public
      The GrandTour Dataset: A Legged Robotics Dataset in the Wild
      Jupyter Notebook
      •4•108•14•0•Updated Feb 25, 2026Feb 25, 2026

    • grand_tour_box

      Public
      Drivers, software and utilities for the GrandTour Boxi sensor payload.
      C++
      •
      MIT License
      •1•16•40•2•Updated Feb 25, 2026Feb 25, 2026

    • less-is-more

      Public
      Codebase for "Less is More 🍋: Scalable Visual Navigation from Limited Data"
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•5•0•0•Updated Feb 23, 2026Feb 23, 2026

    • sru-depth-pretraining

      Public
      Depth Perception Pretraining - SRU Project
      Python
      •
      MIT License
      •2•35•1•0•Updated Feb 20, 2026Feb 20, 2026

    • swiftnav-ros2

      Public
      Swift Navigation's ROS2 SBP Driver
      C++
      •
      MIT License
      •9•1•0•0•Updated Feb 20, 2026Feb 20, 2026

    • anymal_d_simple_description

      Public
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •12•3•0•0•Updated Feb 18, 2026Feb 18, 2026

    • zed-ros-wrapper

      Public
      Fork of the ROS wrapper for the ZED SDK
      C++
      •
      MIT License
      •0•0•0•0•Updated Feb 17, 2026Feb 17, 2026

    • unity_ros_teleoperation

      Public
      Unity project for OpenXR control of ROS systems
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •23•137•3•0•Updated Feb 17, 2026Feb 17, 2026

    • sru-robot-deployment

      Public
      Robot Deployment - SRU Navigation on Unitree B2W
      Python
      •
      MIT License
      •3•52•2•0•Updated Feb 11, 2026Feb 11, 2026

    • FoundationPose

      Public
      RSL fork of "FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects"
      Python
      •
      Other
      •426•6•0•0•Updated Feb 10, 2026Feb 10, 2026

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •2•18•0•2•Updated Feb 10, 2026Feb 10, 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
      •226•5•0•0•Updated Feb 6, 2026Feb 6, 2026

    • kea_planner

      Public
      KEA planner
      C++
      •
      Apache License 2.0
      •0•1•3•0•Updated Feb 4, 2026Feb 4, 2026

    • defm

      Public
      source code and trained models for DeFM (Depth Foundation Model)
      Python
      •
      Apache License 2.0
      •1•104•1•0•Updated Feb 4, 2026Feb 4, 2026

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •1•56•2•1•Updated Feb 3, 2026Feb 3, 2026

    • graspqp

      Public
      Python
      •
      MIT License
      •3•29•3•0•Updated Feb 3, 2026Feb 3, 2026

    • livox_ros_driver2

      Public
      Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
      C++
      •
      Other
      •542•3•0•0•Updated Feb 2, 2026Feb 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
      •29•384•0•0•Updated Feb 2, 2026Feb 2, 2026

    • rsl_rl_rwm

      Public
      Algorithm implementation for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics
      Python
      •
      Other
      •531•51•0•0•Updated Jan 26, 2026Jan 26, 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
      •7•164•1•0•Updated Jan 26, 2026Jan 26, 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
      •33•530•0•0•Updated Jan 26, 2026Jan 26, 2026

    • grid_map

      Public
      Universal grid map library for mobile robotic mapping
      rosgrid-mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •858•25•0•1•Updated Jan 25, 2026Jan 25, 2026