Robotic Systems Lab - Legged Robotics at ETH Zürich

The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.

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README.md

Robotic Systems Lab

Legged Robotics @ ETH Zürich

The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.

With a large focus on robots with arms and legs, our research includes novel actuation methods for advanced dynamic interaction, innovative designs for increased system mobility and versatility, and new control and optimization algorithms for locomotion and manipulation. In search of clever solutions, we take inspiration from humans and animals with the goal to improve the skills and autonomy of complex robotic systems to make them applicable in various real-world scenarios.

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pace-sim2real 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 688 66
rsl_rl rsl_rl Public

A fast and simple implementation of learning algorithms for robotics.

Python 2.9k 668
sru-pytorch-spatial-learning sru-pytorch-spatial-learning Public

Spatially-Enhanced Recurrent Units (SRU) - PyTorch Implementation

Python 284 24
radiance_field_ros radiance_field_ros Public

Implementation of Radiance Fields for Robotic Teleoperation

Python 58 6
open3d_slam open3d_slam Public

Pointcloud-based graph SLAM written in C++ using open3D library.

C++ 627 63
elevation_mapping_cupy elevation_mapping_cupy Public

Elevation Mapping on GPU.

Python 1.1k 196

Repositories

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terra-baselines Public
Train, visualize, and evaluate RL policies for the Terra environment.

leggedrobotics/terra-baselines's past year of commit activity

Python 20 2 0 3 Updated Aug 29, 2026
wavemap Public Forked from ethz-asl/wavemap
Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

leggedrobotics/wavemap's past year of commit activity

C++ 7 BSD-3-Clause 57 0 0 Updated Aug 28, 2026
rsl_rl Public
A fast and simple implementation of learning algorithms for robotics.

leggedrobotics/rsl_rl's past year of commit activity

Python 2,920 668 6 5 Updated Aug 28, 2026
holistic_fusion Public
Official repository for holistic fusion.

leggedrobotics/holistic_fusion's past year of commit activity

C++ 224 BSD-3-Clause 29 2 0 Updated Aug 26, 2026
ethercat_sdk_master Public
A wrapper around SOEM to allow multiple masters and devices on EtherCAT

leggedrobotics/ethercat_sdk_master's past year of commit activity

C++ 19 17 3 1 Updated Aug 26, 2026
terra Public
A grid world environment for high-level earthworks planning in JAX for RL.

leggedrobotics/terra's past year of commit activity

Python 60 1 2 2 Updated Aug 26, 2026
swiftnav-ros2 Public Forked from swift-nav/swiftnav-ros2
Swift Navigation's ROS2 SBP Driver

leggedrobotics/swiftnav-ros2's past year of commit activity

C++ 1 MIT 10 0 1 Updated Aug 25, 2026
elevation_mapping_cupy Public
Elevation Mapping on GPU.

leggedrobotics/elevation_mapping_cupy's past year of commit activity

Python 1,062 MIT 196 41 5 Updated Aug 25, 2026
direct_lidar_inertial_odometry Public Forked from vectr-ucla/direct_lidar_inertial_odometry
[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.

leggedrobotics/direct_lidar_inertial_odometry's past year of commit activity

C++ 6 MIT 261 0 0 Updated Aug 25, 2026
BIEVR-LIO Public Forked from ethz-asl/BIEVR-LIO
[RSS 2026] 🦫 BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps

leggedrobotics/BIEVR-LIO's past year of commit activity

C++ 1 BSD-3-Clause 41 0 0 Updated Aug 25, 2026