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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    291 repositories

    • 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
      •188•3•0•1•Updated Apr 17, 2026Apr 17, 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
      •1•7•0•0•Updated Apr 16, 2026Apr 16, 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 16, 2026Apr 16, 2026

    • kleinkram

      Public
      Kleinkram: Open Robotic Data Management
      TypeScript
      •
      MIT License
      •9•86•119•30•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•92•0•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

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •17•158•3•1•Updated Apr 15, 2026Apr 15, 2026

    • OpenWorldSAM

      Public
      OpenWorldSAM: Extending SAM2 for Universal Image Segmentation with Language Prompts
      Python
      •
      Apache License 2.0
      •4•0•0•0•Updated Apr 14, 2026Apr 14, 2026

    • navigation2

      Public
      ROS 2 Navigation Framework and System
      C++
      •
      Other
      •1.8k•0•0•0•Updated Apr 13, 2026Apr 13, 2026

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •11•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
      •53•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
      •11•198•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
      •44•585•1•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

    • proper_zed-ros2-wrapper

      Public
      ROS 2 wrapper for the ZED SDK
      C++
      •
      Apache License 2.0
      •308•1•0•0•Updated Apr 3, 2026Apr 3, 2026

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •175•901•40•5•Updated Apr 3, 2026Apr 3, 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
      •230•5•0•0•Updated Apr 2, 2026Apr 2, 2026

    • unity_ros_teleoperation

      Public
      Unity project for OpenXR control of ROS systems
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •22•151•0•0•Updated Mar 29, 2026Mar 29, 2026

    • pragmabot

      Public
      A Pragmatist Robot 🤖
      Python
      •
      Other
      •0•12•1•0•Updated Mar 28, 2026Mar 28, 2026

    • grand_tour_box

      Public
      Drivers, software and utilities for the GrandTour Boxi sensor payload.
      C++
      •
      MIT License
      •1•22•44•4•Updated Mar 27, 2026Mar 27, 2026

    • open3d_slam

      Public
      Pointcloud-based graph SLAM written in C++ using open3D library.
      localizationcpprobotics
      localizationcpproboticsmappingroslidarslampointcloudopen3dopen3d-catkin
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •60•610•6•5•Updated Mar 26, 2026Mar 26, 2026

    • greenwave_monitor_hike

      Public
      ROS 2 Topic Monitoring
      Python
      •
      Apache License 2.0
      •16•2•0•0•Updated Mar 25, 2026Mar 25, 2026

    • ocs2

      Public
      Optimal Control for Switched Systems
      controlroboticsmpc
      controlroboticsmpcoptimal-control
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •319•1.4k•50•5•Updated Mar 25, 2026Mar 25, 2026

    • zed-ros-wrapper

      Public
      Fork of the ROS wrapper for the ZED SDK
      C++
      •
      MIT License
      •0•0•0•0•Updated Mar 24, 2026Mar 24, 2026

    • rsl_rl

      Public
      A fast and simple implementation of learning algorithms for robotics.
      Python
      •
      Other
      •576•2.5k•9•6•Updated Mar 24, 2026Mar 24, 2026
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