Skip to content
@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

Popular repositories Loading

  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 367 42

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 108 7

  3. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 105 8

  4. muse muse Public

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

    C++ 78 12

  5. DWMPC DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    C 67 6

  6. gym-quadruped gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    Python 50 13

Repositories

Showing 10 of 53 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 20 BSD-3-Clause 3 0 0 Updated Oct 9, 2025
  • unitree_ros2_dls Public Forked from unitreerobotics/unitree_ros2

    A fork from 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++ 0 114 0 0 Updated Oct 8, 2025
  • croSTAta Public

    Cross-State Transition Attention Transformer for improved robotic manipulation with better temporal modeling

    iit-DLSLab/croSTAta’s past year of commit activity
    Python 5 0 0 0 Updated Oct 1, 2025
  • muse Public

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

    iit-DLSLab/muse’s past year of commit activity
    C++ 78 BSD-3-Clause 12 3 1 Updated Sep 29, 2025
  • mpx Public

    Model Predictive Control in JAX

    iit-DLSLab/mpx’s past year of commit activity
    Python 108 BSD-3-Clause 7 3 (1 issue needs help) 0 Updated Sep 25, 2025
  • 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 367 BSD-3-Clause 42 4 3 Updated Sep 24, 2025
  • 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 Sep 24, 2025
  • morphosymm-rl Public

    Extension of RSL-RL for using Morphological Symmetries in IsaacLab

    iit-DLSLab/morphosymm-rl’s past year of commit activity
    Python 21 BSD-3-Clause 0 1 0 Updated Sep 18, 2025
  • 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 29 0 0 0 Updated Sep 11, 2025
  • gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    iit-DLSLab/gym-quadruped’s past year of commit activity
    Python 50 13 6 (1 issue needs help) 1 Updated Sep 11, 2025
View all repositories