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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 537 74

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 282 35

  3. muse muse Public

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

    C++ 143 21

  4. 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 140 13

  5. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 121 7

  6. sim2real-robot-identification 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

    Python 98 8

Repositories

Showing 10 of 81 repositories
  • locomanipulation-teleop-isaaclab Public

    An IsaacLab DirectEnv for performing teleoperation with Unitree Go2 + AgileX Piper, with support for sim-to-sim and sim-to-real pipelines

    iit-DLSLab/locomanipulation-teleop-isaaclab's past year of commit activity
    Python 37 BSD-3-Clause 3 1 0 Updated Nov 4, 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 33 BSD-3-Clause 5 1 1 Updated Nov 4, 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 23 BSD-3-Clause 6 0 0 Updated Nov 4, 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 13 BSD-3-Clause 0 0 0 Updated Nov 4, 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 34 BSD-3-Clause 2 0 0 Updated Nov 4, 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 140 BSD-3-Clause 13 5 0 Updated Nov 4, 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

    iit-DLSLab/sim2real-robot-identification's past year of commit activity
    Python 98 BSD-3-Clause 8 1 0 Updated Nov 4, 2026
  • sensors2heightmap-isaaclab Public

    An IsaacLab set of tools for heightmap reconstruction from lidar and camera

    iit-DLSLab/sensors2heightmap-isaaclab's past year of commit activity
    Python 2 BSD-3-Clause 0 0 0 Updated Nov 4, 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 1 Updated Nov 4, 2026
  • dls2 Public

    Implementation of the DLS2 framework

    iit-DLSLab/dls2's past year of commit activity
    C++ 7 BSD-3-Clause 0 57 (2 issues need help) 5 Updated Nov 4, 2026
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