DLS Lab at Istituto Italiano di Tecnologia, Italy

Dynamic Legged Systems Lab - Design and control of high-performance, versatile legged robots, including planning and perception

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Quadruped-PyMPC Quadruped-PyMPC Public

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

Python 506 70
mpx mpx Public

Model Predictive Control in JAX

Python 273 34
muse muse Public

A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data

C++ 129 20
Panoptic-SLAM Panoptic-SLAM Public

Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation

C++ 121 7
basic-locomotion-isaaclab basic-locomotion-isaaclab Public

An IsaacLab DirectEnv for basic quadrupedal locomotion tasks, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

Python 120 11
DWMPC DWMPC Public

A distributed whole-body model predictive control for quadruped robots

C 91 8

Repositories

Type Language Sort

Quadruped-PyMPC Public
A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

iit-DLSLab/Quadruped-PyMPC's past year of commit activity

Python 506 BSD-3-Clause 70 2 0 Updated Aug 28, 2026
unitree-ros2-dls Public
A wrapper over unitree_ros2 repository, that adds a new script for comunicating with DLS controllers

iit-DLSLab/unitree-ros2-dls's past year of commit activity

C++ 7 2 0 0 Updated Aug 28, 2026
basic-locomotion-isaaclab Public
An IsaacLab DirectEnv for basic quadrupedal locomotion tasks, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

iit-DLSLab/basic-locomotion-isaaclab's past year of commit activity

Python 120 BSD-3-Clause 11 5 0 Updated Aug 28, 2026
morphosymm-rsl-rl Public
Extension of RSL-RL for using Morphological Symmetries in IsaacLab

iit-DLSLab/morphosymm-rsl-rl's past year of commit activity

Python 32 BSD-3-Clause 2 1 0 Updated Aug 28, 2026
fault-locomotion-isaaclab Public
An IsaacLab DirectEnv for quadrupedal locomotion under motor failures, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

iit-DLSLab/fault-locomotion-isaaclab's past year of commit activity

Python 11 BSD-3-Clause 3 1 1 Updated Aug 28, 2026
moe-rsl-rl Public
Extension of RSL-RL for using Mixture-of-Experts in IsaacLab

iit-DLSLab/moe-rsl-rl's past year of commit activity

Python 6 BSD-3-Clause 0 0 0 Updated Aug 27, 2026
dls2-barebone Public
Barebone code for DLS2 framework

iit-DLSLab/dls2-barebone's past year of commit activity

C++ 8 BSD-3-Clause 0 1 2 Updated Aug 27, 2026
dls2 Public
Implementation of the DLS2 framework

iit-DLSLab/dls2's past year of commit activity

C++ 6 BSD-3-Clause 0 58 (2 issues need help) 6 Updated Aug 27, 2026
get-up-isaaclab Public
An IsaacLab DirectEnv for the quadruped get-up task, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

iit-DLSLab/get-up-isaaclab's past year of commit activity

Python 10 BSD-3-Clause 3 0 0 Updated Aug 17, 2026
isaaclab_height_scan_builder Public Forked from ADVRHumanoids/isaaclab_height_scan_builder

iit-DLSLab/isaaclab_height_scan_builder's past year of commit activity

C++ 0 1 0 0 Updated Aug 13, 2026