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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 402 53

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 170 16

  3. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 112 8

  4. muse muse Public

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

    C++ 101 15

  5. DWMPC DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    C 73 6

  6. gym-quadruped gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    Python 65 15

Repositories

Showing 10 of 55 repositories
  • 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 Jan 8, 2026
  • gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    iit-DLSLab/gym-quadruped’s past year of commit activity
    Python 65 15 6 (1 issue needs help) 2 Updated Jan 8, 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 optimization tricks.

    iit-DLSLab/basic-locomotion-dls-isaaclab’s past year of commit activity
    Python 45 BSD-3-Clause 4 0 0 Updated Jan 1, 2026
  • 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 Dec 22, 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 402 BSD-3-Clause 53 4 3 Updated Dec 21, 2025
  • 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.

    iit-DLSLab/SANDRO’s past year of commit activity
    Python 21 2 0 0 Updated Dec 19, 2025
  • unitree_ros2_dls Public

    A wrapper over 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++ 1 0 1 0 Updated Dec 19, 2025
  • VAR-SLAM Public

    A robust visual SLAM system for dynamic environments

    iit-DLSLab/VAR-SLAM’s past year of commit activity
    6 0 0 0 Updated Dec 18, 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++ 101 BSD-3-Clause 15 3 0 Updated Dec 2, 2025
  • mpx Public

    Model Predictive Control in JAX

    iit-DLSLab/mpx’s past year of commit activity
    Python 170 BSD-3-Clause 16 5 (1 issue needs help) 0 Updated Nov 20, 2025
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