Repositories list

• basic-locomotion-isaaclab

  Public
  An IsaacLab extension by DLS for basic locomotion tasks on multiple quadruped robots, with sim-to-sim and sim-to-real pipelines

  reinforcement-learninglocomotionquadruped+ 3

  reinforcement-learninglocomotionquadrupedmujocosim-to-realisaaclab

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •66 forks•7474 stars•77 issues•00 pull requests•Updated Apr 24, 2026Apr 24, 2026

• morphosymm-rl

  Public
  Extension of RSL-RL for using Morphological Symmetries in IsaacLab

  reinforcement-learningsymmetriesisaaclab+ 1

  reinforcement-learningsymmetriesisaaclabrsl-rl

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •11 fork•3030 stars•11 issue•00 pull requests•Updated Apr 23, 2026Apr 23, 2026

• sim2real-robot-identification

  Public
  A joints calibration routine for quadrupeds and manipulators to facilitate sim-to-real transfer from isaaclab and mujoco to real robots

  reinforcement-learningsimulationquadruped+ 3

  reinforcement-learningsimulationquadrupedmujocosim-to-realisaaclab

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •11 fork•2424 stars•00 issues•00 pull requests•Updated Apr 23, 2026Apr 23, 2026

• get-up-isaaclab

  Public
  An IsaacLab extension by DLS for the quadruped get-up task, with sim-to-sim and sim-to-real pipelines

  reinforcement-learningrecoveryquadruped+ 3

  reinforcement-learningrecoveryquadrupedmujocosim-to-realisaaclab

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •11 fork•55 stars•11 issue•00 pull requests•Updated Apr 21, 2026Apr 21, 2026

• trash-collection-isaaclab

  Public
  An IsaacLab extension by DLS for performing trash collection with legged robots

  reinforcement-learningminkmanipulation+ 3

  reinforcement-learningminkmanipulationquadrupedmujocoisaaclab

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •11 fork•1616 stars•11 issue•00 pull requests•Updated Apr 21, 2026Apr 21, 2026

• unitree-ros2-dls

  Public
  A wrapper over unitree_ros2 repository, that adds a new script for comunicating with DLS controllers

  C++

  •00 forks•33 stars•11 issue•00 pull requests•Updated Apr 21, 2026Apr 21, 2026

• piper-ros2-dls

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

  Makefile

  •00 forks•22 stars•00 issues•00 pull requests•Updated Apr 20, 2026Apr 20, 2026

• z1_sdk

  Public
  SDK tools for controlling z1 robot

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •3939 forks•00 stars•00 issues•00 pull requests•Updated Apr 20, 2026Apr 20, 2026

• mpx

  Public
  Model Predictive Control in JAX

  optimizationlocomotionhumanoid-robot+ 3

  optimizationlocomotionhumanoid-robotmujocojaxquadruped-robot

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •2828 forks•189189 stars•44 issues•00 pull requests•Updated Apr 17, 2026Apr 17, 2026

• muse

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

  sensor-fusionstate-estimationquadruped-robots

  sensor-fusionstate-estimationquadruped-robots

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •1919 forks•114114 stars•44 issues•00 pull requests•Updated Apr 16, 2026Apr 16, 2026

• jax_ocp_solvers

  Public
  JAX Optimization for OCP

  Python

  •77 forks•1616 stars•00 issues•00 pull requests•Updated Apr 13, 2026Apr 13, 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)

  optimizationlocomotionros2+ 4

  optimizationlocomotionros2mujocojaxacadosquadruped-robot

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •6464 forks•458458 stars•44 issues•33 pull requests•Updated Mar 31, 2026Mar 31, 2026

• vicon_bridge

  Public
  This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle m…

  C++

  •111111 forks•00 stars•00 issues•00 pull requests•Updated Mar 27, 2026Mar 27, 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 boar…

  Python

  •

  MIT License

  •00 forks•4343 stars•1313 issues•11 pull request•Updated Mar 23, 2026Mar 23, 2026

• gym-quadruped

  Public
  Mujoco Gym environment for the control of quadruped robots

  locomotionquadrupedmujoco+ 1

  locomotionquadrupedmujocomujoco-environments

  Python

  •2020 forks•7474 stars•66 issues•00 pull requests•Updated Mar 12, 2026Mar 12, 2026

• iit-DLSLab.github.io

  Public
  Github repository for website

  00 forks•11 star•00 issues•00 pull requests•Updated Mar 11, 2026Mar 11, 2026

• croSTAta

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

  Python

  •11 fork•1818 stars•00 issues•00 pull requests•Updated Mar 8, 2026Mar 8, 2026

• ORB-SLAM3-ROS2-Docker

  Public
  This repository contains a full wrapper class for running ORB-SLAM3 on a docker container with ROS2 Humble with Ubuntu 22.04.

  C++

  •9898 forks•33 stars•00 issues•00 pull requests•Updated Feb 10, 2026Feb 10, 2026

• Panoptic-SLAM

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

  C++

  •

  GNU General Public License v3.0

  •88 forks•119119 stars•00 issues•00 pull requests•Updated Feb 3, 2026Feb 3, 2026

• stable-baselines3-devkit

  Public
  SB3 on steroids

  Python

  •00 forks•33 stars•00 issues•00 pull requests•Updated Feb 1, 2026Feb 1, 2026

• SANDRO

  Public
  A robust algorithm for point cloud registration, using Graduated Non-Convexity and a Geman-McClure robust loss function to handle high outlier rates.

  Python

  •22 forks•2323 stars•00 issues•00 pull requests•Updated Dec 19, 2025Dec 19, 2025

• VAR-SLAM

  Public
  A robust visual SLAM system for dynamic environments

  00 forks•99 stars•00 issues•00 pull requests•Updated Dec 18, 2025Dec 18, 2025

• TEDi

  Public
  Python

  •66 forks•00 stars•00 issues•00 pull requests•Updated Oct 14, 2025Oct 14, 2025

• DWMPC

  Public
  A distributed whole-body model predictive control for quadruped robots

  optimizationlocomotionwhole-body-control+ 2

  optimizationlocomotionwhole-body-controlmujocoacados

  C

  •88 forks•8484 stars•11 issue•00 pull requests•Updated Apr 22, 2025Apr 22, 2025

• ec_dds

  Public
  C++

  •00 forks•00 stars•00 issues•00 pull requests•Updated Mar 6, 2025Mar 6, 2025

• fastdds-visualizer-plugin

  Public
  PlotJuggler plugin for Fast DDS. This fork is used to make plotjuggler working with discovery server

  C++

  •

  GNU General Public License v2.0

  •66 forks•00 stars•00 issues•00 pull requests•Updated Jan 24, 2025Jan 24, 2025

• rai_dls

  Public
  Robotic AI bare code. This is designed as shared submodule of other projects. Try other repos that expose clearer interfaces (rai-python, robotics-course) first…

  C++

  •

  MIT License

  •5353 forks•00 stars•00 issues•00 pull requests•Updated Dec 5, 2024Dec 5, 2024

• sensors-description

  Public
  This package contains the description (kinematic, visual, plugin, etc.) of the different sensors used at DLS lab. The files in this package are parsed and used …

  C++

  •1111 forks•77 stars•11 issue•00 pull requests•Updated Nov 26, 2024Nov 26, 2024

• dls_orbit

  Public
  Unified framework for robot learning built on NVIDIA Isaac Sim

  Python

  •

  Other

  •3.5k3.5k forks•11 star•00 issues•00 pull requests•Updated Jul 8, 2024Jul 8, 2024

• ecat-client-advr

  Public
  EtherCAT Client for the the communication with the master. - DLS

  C++

  •11 fork•00 stars•00 issues•00 pull requests•Updated Apr 23, 2024Apr 23, 2024