Skip to content

@iit-DLSLab DLS Lab at Istituto Italiano di Tecnologia, Italy

Change the repository type filter

All

    Repositories list

    57 repositories

    • morphosymm-rl

      Public
      Extension of RSL-RL for using Morphological Symmetries in IsaacLab
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•24•1•0•Updated Feb 5, 2026Feb 5, 2026

    • Panoptic-SLAM

      Public
      Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation
      C++
      •
      GNU General Public License v3.0
      •8•114•0•0•Updated Feb 3, 2026Feb 3, 2026

    • piper_ros2_dls2

      Public
      A wrapper over piper_sdk repository, that adds a new script for comunicating with DLS controllers
      Makefile
      •0•0•0•0•Updated Feb 3, 2026Feb 3, 2026

    • 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 op…
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •4•46•0•0•Updated Feb 2, 2026Feb 2, 2026

    • stable-baselines3-devkit

      Public
      SB3 on steroids
      Python
      •0•3•0•0•Updated Feb 1, 2026Feb 1, 2026

    • unitree_ros2_dls

      Public
      A wrapper over unitree_ros2 repository, that adds a new script for comunicating with DLS controllers
      C++
      •0•2•1•0•Updated Jan 30, 2026Jan 30, 2026

    • mpx

      Public
      Model Predictive Control in JAX
      optimizationlocomotionhumanoid-robotmujocojaxquadruped-robot
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •17•174•5•0•Updated Jan 23, 2026Jan 23, 2026

    • primal_dual_ilqr

      Public
      JAX Optimization for OCP
      Python
      •7•11•0•0•Updated Jan 23, 2026Jan 23, 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++
      •111•0•0•1•Updated Jan 21, 2026Jan 21, 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
      •0•38•9•0•Updated Jan 20, 2026Jan 20, 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)
      optimizationlocomotionros2mujocojaxacadosquadruped-robot
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •53•419•4•3•Updated Jan 19, 2026Jan 19, 2026

    • z1_sdk

      Public
      SDK tools for controlling z1 robot
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •38•0•0•0•Updated Jan 14, 2026Jan 14, 2026

    • iit-DLSLab.github.io

      Public
      Github repository for website
      0•1•0•0•Updated Jan 13, 2026Jan 13, 2026

    • gym-quadruped

      Public
      Mujoco Gym environment for the control of quadruped robots
      locomotionquadrupedmujocomujoco-environments
      Python
      •17•67•6•2•Updated Jan 8, 2026Jan 8, 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
      •2•22•0•0•Updated Dec 19, 2025Dec 19, 2025

    • VAR-SLAM

      Public
      A robust visual SLAM system for dynamic environments
      0•6•0•0•Updated Dec 18, 2025Dec 18, 2025

    • muse

      Public
      A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data
      sensor-fusionstate-estimationquadruped-robots
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •15•103•3•0•Updated Dec 2, 2025Dec 2, 2025

    • simple-joints-identification-isaaclab

      Public
      A simple joints calibration routine for facilitating sim-to-real transfer from isaaclab to real robots
      reinforcement-learningsimulationmujocoisaacsimsim-to-realisaaclab
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•4•0•0•Updated Oct 22, 2025Oct 22, 2025

    • TEDi

      Public
      Python
      •6•0•0•0•Updated Oct 14, 2025Oct 14, 2025

    • croSTAta

      Public
      Cross-State Transition Attention Transformer for improved robotic manipulation with better temporal modeling; https://arxiv.org/abs/2510.00726
      Python
      •1•16•0•0•Updated Oct 1, 2025Oct 1, 2025

    • 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++
      •87•3•0•0•Updated Jul 8, 2025Jul 8, 2025

    • DWMPC

      Public
      A distributed whole-body model predictive control for quadruped robots
      optimizationlocomotionwhole-body-controlmujocoacados
      C
      •6•77•1•0•Updated Apr 22, 2025Apr 22, 2025

    • ec_dds

      Public
      C++
      •0•0•0•0•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
      •6•0•0•0•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
      •53•0•0•0•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++
      •11•7•1•0•Updated Nov 26, 2024Nov 26, 2024

    • dls_orbit

      Public
      Unified framework for robot learning built on NVIDIA Isaac Sim
      Python
      •
      Other
      •3k•1•0•0•Updated Jul 8, 2024Jul 8, 2024

    • ecat-client-advr

      Public
      EtherCAT Client for the the communication with the master. - DLS
      C++
      •1•0•0•0•Updated Apr 23, 2024Apr 23, 2024

    • z1_controller

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •27•0•0•0•Updated Apr 1, 2024Apr 1, 2024

    • reactive_landing_controller

      Public
      Code for the paper Reactive Landing Controller for Quadruped Robots
      Python
      •
      Apache License 2.0
      •2•19•0•0•Updated Aug 30, 2023Aug 30, 2023