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@iit-DLSLab

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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  1. 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 435 60

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 179 23

  3. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 115 8

  4. muse muse Public

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

    C++ 106 17

  5. DWMPC DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    C 81 8

  6. gym-quadruped gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    Python 68 18

Repositories

Showing 10 of 58 repositories
  • basic-locomotion-dls-isaaclab Public

    An IsaacLab extension from DLS for basic locomotion tasks on multiple quadruped robots, featuring sim-to-sim and sim-to-real pipelines along with a set of RL optimization tricks.

    iit-DLSLab/basic-locomotion-dls-isaaclab’s past year of commit activity
    Python 53 BSD-3-Clause 4 0 0 Updated Mar 12, 2026
  • gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    iit-DLSLab/gym-quadruped’s past year of commit activity
    Python 68 18 6 (1 issue needs help) 0 Updated Mar 12, 2026
  • elevation_mapping_gpu_ros2 Public

    This repo contains the implementation of elevation mapping cupy for ros2 humble. The package works for x64 architecture and ARM arch for NVIDIA Jetson Orin boards

    iit-DLSLab/elevation_mapping_gpu_ros2’s past year of commit activity
    Python 40 MIT 0 8 0 Updated Mar 12, 2026
  • trash-collection-isaaclab Public

    An IsaacLab extension from DLS for performing trash collection with legged robots

    iit-DLSLab/trash-collection-isaaclab’s past year of commit activity
    Python 2 BSD-3-Clause 1 1 0 Updated Mar 11, 2026
  • iit-DLSLab.github.io Public

    Github repository for website

    iit-DLSLab/iit-DLSLab.github.io’s past year of commit activity
    1 0 0 0 Updated Mar 11, 2026
  • 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 435 BSD-3-Clause 60 4 3 Updated Mar 10, 2026
  • croSTAta Public

    Cross-State Transition Attention Transformer for improved robotic manipulation with better temporal modeling; https://arxiv.org/abs/2510.00726

    iit-DLSLab/croSTAta’s past year of commit activity
    Python 18 1 0 0 Updated Mar 8, 2026
  • morphosymm-rl Public

    Extension of RSL-RL for using Morphological Symmetries in IsaacLab

    iit-DLSLab/morphosymm-rl’s past year of commit activity
    Python 29 BSD-3-Clause 1 1 0 Updated Mar 5, 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++ 3 0 1 0 Updated Mar 4, 2026
  • piper_ros2_dls2 Public

    A wrapper over piper_sdk repository, that adds a new script for comunicating with DLS controllers

    iit-DLSLab/piper_ros2_dls2’s past year of commit activity
    Makefile 1 0 0 0 Updated Feb 27, 2026
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