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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    216 repositories

    • plr-exercise

      Public
      Python
      •
      MIT License
      •33•8•1•3•Updated Feb 26, 2025Feb 26, 2025

    • dinov2

      Public
      PyTorch code and models for the DINOv2 self-supervised learning method.
      Jupyter Notebook
      •
      Apache License 2.0
      •890•1•0•0•Updated Feb 26, 2025Feb 26, 2025

    • rsl_rl

      Public
      Fast and simple implementation of RL algorithms, designed to run fully on GPU.
      Python
      •
      Other
      •236•951•19•1•Updated Feb 25, 2025Feb 25, 2025

    • anybotics_velodyne

      Public
      ROS support for Velodyne 3D LIDARs
      C++
      •
      Other
      •659•0•0•0•Updated Feb 24, 2025Feb 24, 2025

    • ml-depth-pro

      Public
      Depth Pro: Sharp Monocular Metric Depth in Less Than a Second.
      Python
      •
      Other
      •298•1•0•0•Updated Feb 24, 2025Feb 24, 2025

    • hesai_lidar_ros_driver

      Public
      A general ROS driver for Hesai LiDARs
      C++
      •54•0•0•1•Updated Feb 23, 2025Feb 23, 2025

    • hesai_lidar_sdk

      Public
      A general SDK for Hesai LiDARs
      C++
      •
      Other
      •38•0•0•0•Updated Feb 23, 2025Feb 23, 2025

    • interactive_navigation

      Public
      MT: Task Planning for Interactive Navigation
      Python
      •
      MIT License
      •0•12•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
      •39•256•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

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •129•592•30•4•Updated Feb 17, 2025Feb 17, 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•1•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
      •40•408•7•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
      •143•3•0•0•Updated Feb 11, 2025Feb 11, 2025

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •0•9•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
      •56•544•6•4•Updated Jan 12, 2025Jan 12, 2025

    • evo

      Public
      Python package for the evaluation of odometry and SLAM
      Python
      •
      GNU General Public License v3.0
      •763•1•0•0•Updated Jan 7, 2025Jan 7, 2025

    • 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
      •15•156•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•34•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
      •53•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
      •45•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•39•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
      •6•1•0•0•Updated Dec 13, 2024Dec 13, 2024