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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

221 followers
Genova, Italy
http://dls.iit.it/
company/dlslab

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Quadruped-PyMPC Quadruped-PyMPCPublic
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 503 70
mpx mpxPublic
Model Predictive Control in JAX
Python 268 34
muse musePublic
A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data
C++ 127 20
Panoptic-SLAM Panoptic-SLAMPublic
Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation
C++ 121 7
basic-locomotion-isaaclab basic-locomotion-isaaclabPublic
An IsaacLab DirectEnv for basic quadrupedal locomotion tasks, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines
Python 119 10
DWMPC DWMPCPublic
A distributed whole-body model predictive control for quadruped robots
C 89 8

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Showing 10 of 77 repositories

dls2 Public
Implementation of the DLS2 framework
iit-DLSLab/dls2's past year of commit activity
C++ 6BSD-3-Clause 0 58 (2 issues need help) 5 Updated Aug 13, 2026
isaaclab_height_scan_builder Public Forked from ADVRHumanoids/isaaclab_height_scan_builder
iit-DLSLab/isaaclab_height_scan_builder's past year of commit activity
C++ 0 1 0 0 Updated Aug 13, 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 boards
iit-DLSLab/elevation_mapping_gpu_ros2's past year of commit activity
Python 62MIT 3 12 2 Updated Aug 12, 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 10BSD-3-Clause 3 0 0 Updated Aug 12, 2026
locomanipulation-teleop-isaaclab Public
An IsaacLab DirectEnv for performing teleoperation with Unitree Go2 + AgileX Piper, with support for sim-to-sim and sim-to-real pipelines
iit-DLSLab/locomanipulation-teleop-isaaclab's past year of commit activity
Python 22BSD-3-Clause 2 1 0 Updated Aug 11, 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 10BSD-3-Clause 2 1 0 Updated Aug 11, 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)
iit-DLSLab/Quadruped-PyMPC's past year of commit activity
Python 503BSD-3-Clause 70 2 0 Updated Aug 11, 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 119BSD-3-Clause 10 6 0 Updated Aug 11, 2026
dls2_msgs Public
iit-DLSLab/dls2_msgs's past year of commit activity
CMake 1BSD-3-Clause 0 1 1 Updated Aug 11, 2026
dls2-barebone Public
Barebone code for DLS2 framework
iit-DLSLab/dls2-barebone's past year of commit activity
C++ 8BSD-3-Clause 0 1 1 Updated Aug 11, 2026

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