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@leggedrobotics Robotic Systems Lab - Legged Robotics at ETH Zürich

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    309 repositories

    • terra-baselines

      Public
      Train, visualize, and evaluate RL policies for the Terra environment.
      Python
      •3•20•0•3•Updated Sep 23, 2026Sep 23, 2026

    • terra

      Public
      A grid world environment for high-level earthworks planning in JAX for RL.
      Python
      •2•61•2•2•Updated Sep 23, 2026Sep 23, 2026

    • kleinkram

      Public
      Kleinkram: Open Robotic Data Management
      TypeScript
      •
      MIT License
      •14•97•110•10•Updated Sep 23, 2026Sep 23, 2026

    • holistic_fusion

      Public
      Official repository for holistic fusion.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •33•241•1•1•Updated Sep 23, 2026Sep 23, 2026

    • pylon-ros-camera

      Public
      The official pylon ROS driver for Basler GigE Vision and USB3 Vision cameras:
      C++
      •
      Other
      •191•0•0•0•Updated Sep 23, 2026Sep 23, 2026

    • robot_self_filter

      Public
      ros2 version of the robot_self_filter package.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •23•57•1•2•Updated Sep 22, 2026Sep 22, 2026

    • unity_ros_teleoperation

      Public
      Unity project for OpenXR control of ROS systems
      C#
      •
      BSD 3-Clause "New" or "Revised" License
      •25•172•0•0•Updated Sep 22, 2026Sep 22, 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
      •263•6•0•0•Updated Sep 21, 2026Sep 21, 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
      •77•765•3•1•Updated Sep 21, 2026Sep 21, 2026

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      Python
      •
      MIT License
      •201•1.1k•41•5•Updated Sep 20, 2026Sep 20, 2026

    • CFEAR_Radarodometry

      Public
      Fork of CFEAR_Radarodometry to lift to ROS2 and add docker integration
      GNU General Public License v3.0
      •9•0•0•0•Updated Sep 17, 2026Sep 17, 2026

    • livox_ros_driver2

      Public
      Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
      C++
      •
      Other
      •706•3•0•0•Updated Sep 16, 2026Sep 16, 2026

    • ViserDex

      Public
      Repository for ViserDex Visual Sim-to-Real Framework
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •6•40•0•0•Updated Sep 16, 2026Sep 16, 2026

    • dr_pogo

      Public
      Direct Radar Pose-Graph Optimization. Adapted for use in the FogNav project
      Python
      •
      MIT License
      •2•0•0•0•Updated Sep 14, 2026Sep 14, 2026

    • wavemap

      Public
      Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •58•7•0•0•Updated Sep 13, 2026Sep 13, 2026

    • swiftnav-ros2

      Public
      Swift Navigation's ROS2 SBP Driver
      C++
      •
      MIT License
      •10•1•0•0•Updated Sep 9, 2026Sep 9, 2026

    • rsl_rl

      Public
      A fast and simple implementation of learning algorithms for robotics.
      Python
      •
      Other
      •680•3k•3•2•Updated Sep 9, 2026Sep 9, 2026

    • ocs2

      Public
      Optimal Control for Switched Systems
      controlroboticsmpc
      controlroboticsmpcoptimal-control
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •329•1.5k•50•4•Updated Sep 7, 2026Sep 7, 2026

    • grid_map

      Public
      Universal grid map library for mobile robotic mapping
      rosgrid-mapping
      rosgrid-mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •879•27•0•1•Updated Sep 7, 2026Sep 7, 2026

    • camera_aravis2

      Public
      ROS2 camera driver for GenICam-based GigEVision and USB3Vision cameras.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •19•0•0•0•Updated Sep 4, 2026Sep 4, 2026

    • GraspDiffuser

      Public
      Python
      •
      Other
      •1•3•0•0•Updated Sep 2, 2026Sep 2, 2026

    • ethercat_sdk_master

      Public
      A wrapper around SOEM to allow multiple masters and devices on EtherCAT
      ethercatsoem
      ethercatsoem
      C++
      •18•19•2•0•Updated Aug 26, 2026Aug 26, 2026

    • BIEVR-LIO

      Public
      [RSS 2026] 🦫 BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •51•2•0•0•Updated Aug 25, 2026Aug 25, 2026

    • rslidar_sdk

      Public
      RoboSense LiDAR SDK for ROS & ROS2
      C++
      •
      Other
      •355•0•0•0•Updated Aug 24, 2026Aug 24, 2026

    • zed-ros2-wrapper

      Public
      ROS 2 wrapper for the ZED SDK
      C++
      •
      Apache License 2.0
      •351•1•0•0•Updated Aug 20, 2026Aug 20, 2026

    • anymal_d_simple_description

      Public
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •12•3•0•0•Updated Aug 17, 2026Aug 17, 2026

    • grand_tour_dataset

      Public
      The GrandTour Dataset: A Legged Robotics Dataset in the Wild
      Jupyter Notebook
      •8•159•17•0•Updated Aug 17, 2026Aug 17, 2026

    • rsl-student-templates

      Public
      Templates and overview information for student projects
      BibTeX Style
      •0•1•0•0•Updated Aug 14, 2026Aug 14, 2026

    • navigation2

      Public
      ROS 2 Navigation Framework and System
      C++
      •
      Other
      •2k•1•0•0•Updated Aug 12, 2026Aug 12, 2026

    • elevation_mapping_cupy_core

      Public
      Core CuPy-based elevation mapping library extracted from elevation_mapping_cupy.
      Python
      •
      MIT License
      •2•18•0•1•Updated Aug 10, 2026Aug 10, 2026
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