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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    223 repositories

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •0•30•2•1•Updated Mar 13, 2025Mar 13, 2025

    • gtsam_catkin

      Public
      Catkinized version of gtsam.
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •2•4•0•0•Updated Mar 13, 2025Mar 13, 2025

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •129•599•30•4•Updated Mar 13, 2025Mar 13, 2025

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •0•0•0•0•Updated Mar 13, 2025Mar 13, 2025

    • rsl_rl

      Public
      Fast and simple implementation of RL algorithms, designed to run fully on GPU.
      Python
      •
      Other
      •251•1k•18•3•Updated Mar 13, 2025Mar 13, 2025

    • interactive_navigation

      Public
      MT: Task Planning for Interactive Navigation
      Python
      •
      MIT License
      •0•15•0•0•Updated Mar 12, 2025Mar 12, 2025

    • dinov2

      Public
      PyTorch code and models for the DINOv2 self-supervised learning method.
      Jupyter Notebook
      •
      Apache License 2.0
      •899•1•0•0•Updated Mar 12, 2025Mar 12, 2025

    • Depth-Anything-V2

      Public
      [NeurIPS 2024] Depth Anything V2. A More Capable Foundation Model for Monocular Depth Estimation
      Python
      •
      Apache License 2.0
      •435•1•0•0•Updated Mar 11, 2025Mar 11, 2025

    • Pretraining-in-RL

      Public template
      Master Project "Pretraining in RL"
      Python
      •
      MIT License
      •60•0•0•0•Updated Mar 7, 2025Mar 7, 2025

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •0•9•0•0•Updated Mar 7, 2025Mar 7, 2025

    • marladona-isaac-lab

      Public template
      External extenstion template based on Isaac Lab
      Python
      •
      MIT License
      •60•0•0•0•Updated Mar 4, 2025Mar 4, 2025

    • field_local_planner

      Public
      C++
      •
      GNU General Public License v3.0
      •2•0•0•0•Updated Mar 4, 2025Mar 4, 2025

    • obstacle-avoidant-leader-following

      Public
      HTML
      •0•0•0•0•Updated Mar 4, 2025Mar 4, 2025

    • grid_map_filters_drs

      Public
      C++
      •
      GNU General Public License v3.0
      •2•0•0•0•Updated Mar 3, 2025Mar 3, 2025

    • hesai_lidar_ros_driver

      Public
      A general ROS driver for Hesai LiDARs
      C++
      •55•0•0•0•Updated Mar 3, 2025Mar 3, 2025

    • anybotics_velodyne

      Public
      ROS support for Velodyne 3D LIDARs
      C++
      •
      Other
      •658•0•0•0•Updated Mar 3, 2025Mar 3, 2025

    • plr-exercise

      Public
      Python
      •
      MIT License
      •33•8•1•3•Updated Feb 28, 2025Feb 28, 2025

    • ros2_exam_2025

      Public
      Python
      •0•0•0•0•Updated Feb 27, 2025Feb 27, 2025

    • ml-depth-pro

      Public
      Depth Pro: Sharp Monocular Metric Depth in Less Than a Second.
      Python
      •
      Other
      •302•1•0•0•Updated Feb 24, 2025Feb 24, 2025

    • hesai_lidar_sdk

      Public
      A general SDK for Hesai LiDARs
      C++
      •
      Other
      •40•0•0•0•Updated Feb 23, 2025Feb 23, 2025

    • iPlanner

      Public
      iPlanner: Imperative Path Planning. An end-to-end learning planning framework using a novel unsupervised imperative learning approach
      Python
      •
      Other
      •41•266•7•0•Updated Feb 23, 2025Feb 23, 2025

    • rffr.github.io

      Public
      JavaScript
      •0•0•0•0•Updated Feb 23, 2025Feb 23, 2025

    • rsl_panoptic_mapping

      Public
      C++
      •0•6•0•0•Updated Feb 22, 2025Feb 22, 2025

    • identifying_terrain_physical_parameters_webpage

      Public
      https://leggedrobotics.github.io/identifying_terrain_physical_parameters_webpage/
      JavaScript
      •0•3•0•0•Updated Feb 14, 2025Feb 14, 2025

    • physical_terrain_parameter_learning

      Public
      Python
      •
      Other
      •0•3•0•0•Updated Feb 14, 2025Feb 14, 2025

    • nimbro_network

      Public
      ROS network stack: Topic/service transport over unreliable network connections
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •43•6•0•0•Updated Feb 12, 2025Feb 12, 2025

    • viplanner

      Public
      ViPlanner: Visual Semantic Imperative Learning for Local Navigation
      Python
      •
      Other
      •44•425•8•1•Updated Feb 12, 2025Feb 12, 2025

    • dlio

      Public
      Fork of [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
      C++
      •
      MIT License
      •145•3•0•0•Updated Feb 11, 2025Feb 11, 2025

    • robowrangler

      Public
      Code accompanying the paper "RoboWrangler: Toward Rope-based Grasping for Mobile Manipulation", accepted for publication at IEEE RoboSoft 2025
      Jupyter Notebook
      •
      MIT License
      •0•0•0•0•Updated Jan 30, 2025Jan 30, 2025

    • semantic_front_end_filter

      Public
      Python
      •
      GNU General Public License v3.0
      •0•2•1•0•Updated Jan 29, 2025Jan 29, 2025