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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    214 repositories

    • rsl_rl

      Public
      Fast and simple implementation of RL algorithms, designed to run fully on GPU.
      Python
      •
      Other
      •228•895•22•6•Updated Feb 7, 2025Feb 7, 2025

    • interactive_navigation

      Public
      MT: Task Planning for Interactive Navigation
      Python
      •
      MIT License
      •0•11•0•0•Updated Feb 7, 2025Feb 7, 2025

    • rsl_panoptic_mapping

      Public
      C++
      •0•5•0•0•Updated Feb 6, 2025Feb 6, 2025

    • dinov2

      Public
      PyTorch code and models for the DINOv2 self-supervised learning method.
      Jupyter Notebook
      •
      Apache License 2.0
      •874•0•0•0•Updated Feb 6, 2025Feb 6, 2025

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •126•585•31•3•Updated Feb 5, 2025Feb 5, 2025

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •0•8•0•0•Updated Jan 31, 2025Jan 31, 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•1•0•0•Updated Jan 29, 2025Jan 29, 2025

    • open3d_slam

      Public
      Pointcloud-based graph SLAM written in C++ using open3D library.
      localizationcpproboticsroslidarpointcloudopen3dopen3d-catkinmappingslam
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •55•539•6•4•Updated Jan 12, 2025Jan 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
      •139•3•0•0•Updated Jan 9, 2025Jan 9, 2025

    • viplanner

      Public
      ViPlanner: Visual Semantic Imperative Learning for Local Navigation
      Python
      •
      Other
      •40•395•3•1•Updated Jan 9, 2025Jan 9, 2025

    • evo

      Public
      Python package for the evaluation of odometry and SLAM
      Python
      •
      GNU General Public License v3.0
      •761•1•0•0•Updated Jan 7, 2025Jan 7, 2025

    • hesai_lidar_ros_driver

      Public
      A general ROS driver for Hesai LiDARs
      C++
      •51•0•0•0•Updated Dec 24, 2024Dec 24, 2024

    • wild_visual_navigation

      Public
      Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision
      machine-learningcomputer-visionroboticsnavigationonline-learninglegged-robotsrobot-navigationself-supervised-learningtraversability-estimationfield-robotics
      Python
      •
      MIT License
      •14•150•8•2•Updated Dec 22, 2024Dec 22, 2024

    • soem_interface

      Public
      This software package serves as a C++ interface for one or more EtherCAT devices running on the same bus. The lower level EtherCAT communication is handled by the SOEM library.
      ethercatsoem
      C
      •
      GNU General Public License v3.0
      •28•33•0•3•Updated Dec 20, 2024Dec 20, 2024

    • tf_bag

      Public
      Utilities to transparently use tf data recorded with rosbag in Python scripts
      Python
      •
      GNU Lesser General Public License v3.0
      •24•0•0•0•Updated Dec 16, 2024Dec 16, 2024

    • omnidir_nav_pretraining

      Public template
      Pretraining Extension for the Omnidirectional Navigation Semester Project
      Python
      •
      MIT License
      •55•1•0•0•Updated Dec 15, 2024Dec 15, 2024

    • wavemap

      Public
      Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •43•1•0•0•Updated Dec 15, 2024Dec 15, 2024

    • perfectlyconstrained

      Public
      Official implementations from the paper "Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild"
      C++
      •
      MIT License
      •1•38•1•0•Updated Dec 14, 2024Dec 14, 2024

    • qpmad

      Public
      ROS-compatible Eigen-based Goldfarb-Idnani quadratic programming solver
      C++
      •
      Apache License 2.0
      •22•0•0•0•Updated Dec 14, 2024Dec 14, 2024

    • RMS

      Public
      Code for RA-L paper "RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation"
      C++
      •
      MIT License
      •5•1•0•0•Updated Dec 13, 2024Dec 13, 2024

    • anymal_d_simple_description

      Public
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •5•1•0•0•Updated Dec 10, 2024Dec 10, 2024

    • rsl_panoptic

      Public
      Python
      •
      MIT License
      •0•4•0•0•Updated Dec 10, 2024Dec 10, 2024

    • tagmap

      Public
      [CoRL 2024] Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models
      Python
      •
      Apache License 2.0
      •2•12•0•0•Updated Dec 7, 2024Dec 7, 2024

    • self_supervised_segmentation

      Public
      Python
      •
      MIT License
      •3•19•0•0•Updated Nov 29, 2024Nov 29, 2024

    • hesai_lidar_sdk

      Public
      A general SDK for Hesai LiDARs
      C++
      •
      Other
      •36•0•0•0•Updated Nov 28, 2024Nov 28, 2024

    • quest-streaming

      Public
      Tools for streaming the Meta Quest headsets to linux, both wired and wireless
      Shell
      •0•3•0•0•Updated Nov 28, 2024Nov 28, 2024

    • G-VOM

      Public
      G-VOM: A GPU Accelerated Voxel Off-Road Mapping System
      Python
      •
      GNU General Public License v3.0
      •19•15•0•0•Updated Nov 27, 2024Nov 27, 2024

    • gtsam_catkin

      Public
      Catkinized version of gtsam.
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •2•4•0•0•Updated Nov 23, 2024Nov 23, 2024

    • isaac_ros_common

      Public
      Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages.
      Shell
      •
      Other
      •152•2•0•0•Updated Nov 21, 2024Nov 21, 2024