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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 512 70

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 274 34

  3. muse muse Public

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

    C++ 132 20

  4. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 122 7

  5. 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 120 11

  6. DWMPC DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    C 92 8

Repositories

Showing 10 of 77 repositories
  • ecat-client-advr Public Forked from Advanced-Robotics-Facility/ecat-client-advr

    EtherCAT Client for the the communication with the master.

    iit-DLSLab/ecat-client-advr's past year of commit activity
    C++ 0 1 0 0 Updated Sep 10, 2026
  • dls2_msgs Public
    iit-DLSLab/dls2_msgs's past year of commit activity
    CMake 1 BSD-3-Clause 0 1 0 Updated Sep 9, 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 Sep 9, 2026
  • dls2 Public

    Implementation of the DLS2 framework

    iit-DLSLab/dls2's past year of commit activity
    C++ 6 BSD-3-Clause 0 59 (2 issues need help) 7 Updated Sep 9, 2026
  • dls2_ros2_interface Public
    iit-DLSLab/dls2_ros2_interface's past year of commit activity
    Python 1 BSD-3-Clause 0 0 0 Updated Sep 8, 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 15 BSD-3-Clause 3 1 0 Updated Sep 8, 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 6 BSD-3-Clause 0 0 0 Updated Sep 7, 2026
  • state_estimation_benchmark Public

    A Proprioceptive-Only Benchmark for Quadruped Robot's State Estimation

    iit-DLSLab/state_estimation_benchmark's past year of commit activity
    C++ 26 BSD-3-Clause 1 1 0 Updated Sep 7, 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 14 BSD-3-Clause 4 0 0 Updated Sep 3, 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 120 BSD-3-Clause 11 5 0 Updated Sep 3, 2026
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