Projects in Awesome Lists by leggedrobotics

Repository for our papers: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics and Uncertainty-Aware Robotic World Model Makes Offline Model-Based Reinforcement Learning Work on Real Robots

Last synced: 21 Jan 2026

https://github.com/leggedrobotics/free_gait

An Architecture for the Versatile Control of Legged Robots

api apis control free-gait legged-robots motion motion-design motion-planning robot robotics ros whole-body-api whole-body-control

Last synced: 05 Apr 2025

https://github.com/leggedrobotics/traversability_estimation

Traversability mapping for mobile rough terrain navigation

Last synced: 04 Apr 2025

https://github.com/leggedrobotics/xpp

Visualization of Motions for Legged Robots in ros-rviz

computer-graphics legged-robots locomotion motion-planning physics-based-animation robotics ros rviz visualization zmp

Last synced: 06 Apr 2025

https://github.com/leggedrobotics/icp_localization

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).

icp lidar localization mapping navigation ros slam

Last synced: 07 Oct 2025

https://github.com/leggedrobotics/graph_msf

A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.

factor-graph gnss imu lidar localization sensor-fusion state-estimation

Last synced: 09 Apr 2025

https://github.com/leggedrobotics/iplanner

iPlanner: Imperative Path Planning. An end-to-end learning planning framework using a novel unsupervised imperative learning approach

Last synced: 12 Apr 2025

https://github.com/leggedrobotics/delora

Self-supervised Deep LiDAR Odometry for Robotic Applications

lidar-odometry paper robotic-applications robotics

Last synced: 09 Apr 2025

https://github.com/leggedrobotics/pace-sim2real

PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encoders.

Last synced: 21 Jan 2026

https://github.com/leggedrobotics/simbenchmark

Physics engine benchmark for robotics applications: RaiSim vs Bullet vs ODE vs MuJoCo vs DartSim

Last synced: 02 May 2025

https://github.com/leggedrobotics/learning_quadrupedal_locomotion_over_challenging_terrain_supplementary

Supplementary materials for "Learning Locomotion over Challenging Terrain"

Last synced: 30 Oct 2025

https://github.com/leggedrobotics/terrain-generator

Last synced: 07 Jul 2025

https://github.com/leggedrobotics/fdm

Learned Perceptive Forward Dynamics Model

Last synced: 26 Sep 2025

https://github.com/leggedrobotics/perceptive_mpc

Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"

Last synced: 20 Jun 2025

https://github.com/leggedrobotics/wild_visual_navigation

Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision

computer-vision field-robotics legged-robots machine-learning navigation online-learning robot-navigation robotics self-supervised-learning traversability-estimation

Last synced: 04 Apr 2025

https://github.com/leggedrobotics/art_planner

Local Navigation Planner for Legged Robots

Last synced: 02 May 2025

https://github.com/leggedrobotics/holistic_fusion

Official repository for holistic fusion.

Last synced: 10 Aug 2025

https://github.com/leggedrobotics/tensorflow-cpp

Pre-built TensorFlow for C/C++ and CMake.

deep-learning tensorflow

Last synced: 02 May 2025

https://github.com/leggedrobotics/l3e

Learning-based localizability estimation for robust LiDAR localization.

degeneracy icp lidar localizability localization tunnels

Last synced: 28 Feb 2025

https://github.com/leggedrobotics/vitruvio

Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to guide the early stages of legged robot design. The end effectors track an input trajectory and the necessary joint speed, torque, power and energy for the tracking is computed.

locomotion matlab optimization student-project

Last synced: 11 Jul 2025

https://github.com/leggedrobotics/mpc-net

Accompanying code for the publication "MPC-Net: A First Principles Guided Policy Search"

Last synced: 19 Aug 2025

https://github.com/leggedrobotics/elmo_ethercat_sdk

Last synced: 02 May 2025

https://github.com/leggedrobotics/rayen

Imposition of Hard Convex Constraints on Neural Networks

Last synced: 08 Sep 2025

https://github.com/leggedrobotics/tree_detection

This package implements a simple tree detector from point cloud data. It makes no assumptions about the ground plane and can handle arbitrary terrains.

cpp detection point-cloud ros tree tree-detection

Last synced: 02 May 2025

https://github.com/leggedrobotics/kleinkram

Kleinkram: Open Robotic Data Management

Last synced: 12 Mar 2026

https://github.com/leggedrobotics/smug_planner

Last synced: 02 May 2025

https://github.com/leggedrobotics/rslgym

Reinforcement learning framework from RSL for policy training with RaiSim.

Last synced: 02 May 2025

https://github.com/leggedrobotics/noesis

A Reinforcement Learning Software Toolbox for Robotics

Last synced: 02 May 2025

https://github.com/leggedrobotics/grand_tour_dataset

The GrandTour Dataset: A Legged Robotics Dataset in the Wild

Last synced: 10 Aug 2025

https://github.com/leggedrobotics/hardware_time_sync

Guidelines on how to hardware synchronize the time of multiple sensors, e.g., IMU, cameras, etc.

Last synced: 28 Feb 2025

https://github.com/leggedrobotics/radiance_field_ros

Implementation of Radiance Fields for Robotic Teleoperation

gaussian-splatting nerf robotics ros teleoperation

Last synced: 07 Sep 2025

https://github.com/leggedrobotics/cerberus_darpa_subt_datasets

Datasets collected by Team CERBERUS during the DARPA Subterranean Challenge

Last synced: 28 Feb 2025

https://github.com/leggedrobotics/raw_image_pipeline

Image processing pipeline for cameras that provide raw data

debayer gamma-correction image-proc image-processing undistortion vignetting white-balance

Last synced: 02 May 2025

https://github.com/leggedrobotics/terra

A grid world environment for high-level earthworks planning in JAX for RL.

Last synced: 03 Oct 2025

https://github.com/leggedrobotics/anomaly_navigation

Anomaly Navigation - ANNA

Last synced: 19 Oct 2025

https://github.com/leggedrobotics/unity_ros_teleoperation

Last synced: 02 May 2025

https://github.com/leggedrobotics/soem_interface

This software package serves as a C++ interface for one or more EtherCAT devices running on the same bus. The lower level EtherCAT communication is handled by the SOEM library.

ethercat soem

Last synced: 02 May 2025

https://github.com/leggedrobotics/tcan

A library to communicate to devices connected through CAN, EtherCat, USB or TCP/IP.

can communication ethercat usb

Last synced: 04 Sep 2025

https://github.com/leggedrobotics/urdf2robcogen

A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.

kindsl rigid-body-dynamics robcogen ros urdf

Last synced: 02 May 2025

https://github.com/leggedrobotics/swerve_steering

Last synced: 02 May 2025

https://github.com/leggedrobotics/workflows

Collection of workflows, best-practices and guidelines for software development.

Last synced: 02 May 2025

https://github.com/leggedrobotics/maxon_epos_ethercat_sdk

Implementation of an ethercat device driver for the maxon epos 4

Last synced: 13 Mar 2026

https://github.com/leggedrobotics/lunar_planner

Last synced: 02 May 2025

https://github.com/leggedrobotics/physical_terrain_parameter_learning

Last synced: 10 Aug 2025

https://github.com/leggedrobotics/ocs2_robotic_assets

Various robotic assets for OCS2 Toolbox

Last synced: 28 Feb 2025

https://github.com/leggedrobotics/cerberus_anymal_locomotion

Last synced: 02 May 2025

https://github.com/leggedrobotics/perfectlyconstrained

Official implementations from the paper "Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild"

Last synced: 18 Sep 2025

https://github.com/leggedrobotics/terra-baselines

Train, visualize, and evaluate RL policies for the Terra environment.

Last synced: 18 Sep 2025

https://github.com/leggedrobotics/ethercat_sdk_master

A wrapper around SOEM to allow multiple masters and devices on EtherCAT

ethercat soem

Last synced: 02 May 2025

https://github.com/leggedrobotics/ethercat_device_configurator

Manages setup yaml files for the RSL ethercat infrastructure

ethercat

Last synced: 02 May 2025

https://github.com/leggedrobotics/cuda_ue4_linux

Last synced: 02 May 2025

https://github.com/leggedrobotics/interactive_navigation

MT: Task Planning for Interactive Navigation

Last synced: 23 Aug 2025

https://github.com/leggedrobotics/catkin_create_rqt

An RQT plugin generator script, supporting several arguments to generate a rqt plugin for ROS, similar to catkin_create_pkg

Last synced: 11 Jul 2025

https://github.com/leggedrobotics/pytictac

Simple Timing Utils

Last synced: 02 May 2025

https://github.com/leggedrobotics/rl-blindloco

Project page for Science Robotics paper "Learning Quadrupedal Locomotion over Challenging Terrain"

locomotion science-robotics-paper

Last synced: 09 Sep 2025

https://github.com/leggedrobotics/foci

Fast, orientation-aware trajectory planning using a novel Gaussian overlap-based collision formulation, modeling both robot and environment as Gaussian Splat.

gaussian-splatting orientation-awareness trajectory-optimization

Last synced: 10 Aug 2025

Last synced: 09 May 2026