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 390 48

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 159 13

  3. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 111 8

  4. muse muse Public

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

    C++ 93 15

  5. DWMPC DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    C 70 6

  6. gym-quadruped gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    Python 58 14

Repositories

Showing 10 of 55 repositories
  • 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++ 93 BSD-3-Clause 15 4 0 Updated Dec 2, 2025
  • vicon_bridge Public Forked from ethz-asl/vicon_bridge

    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 multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.

    iit-DLSLab/vicon_bridge’s past year of commit activity
    C++ 0 111 0 0 Updated Dec 1, 2025
  • mpx Public

    Model Predictive Control in JAX

    iit-DLSLab/mpx’s past year of commit activity
    Python 159 BSD-3-Clause 13 3 (1 issue needs help) 0 Updated Nov 20, 2025
  • 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 34 BSD-3-Clause 4 0 1 Updated Nov 19, 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 390 BSD-3-Clause 48 4 3 Updated Nov 19, 2025
  • VAR-SLAM Public
    iit-DLSLab/VAR-SLAM’s past year of commit activity
    5 0 0 0 Updated Oct 27, 2025
  • Panoptic-SLAM Public

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

    iit-DLSLab/Panoptic-SLAM’s past year of commit activity
    C++ 111 GPL-3.0 8 0 0 Updated Oct 27, 2025
  • simple-joints-identification-isaaclab Public

    A simple joints calibration routine for facilitating sim-to-real transfer from isaaclab to real robots

    iit-DLSLab/simple-joints-identification-isaaclab’s past year of commit activity
    Python 3 BSD-3-Clause 0 0 0 Updated Oct 22, 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 Oct 21, 2025
  • gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    iit-DLSLab/gym-quadruped’s past year of commit activity
    Python 58 14 6 (1 issue needs help) 1 Updated Oct 20, 2025
View all repositories