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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 530 72

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 279 34

  3. muse muse Public

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

    C++ 141 21

  4. basic-locomotion-isaaclab 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

    Python 138 13

  5. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 121 7

  6. DWMPC DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    C 91 9

Repositories

Showing 10 of 78 repositories
  • 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 138 BSD-3-Clause 13 5 0 Updated Oct 20, 2026
  • dls2-barebone Public

    Barebone code for DLS2 framework

    iit-DLSLab/dls2-barebone's past year of commit activity
    C++ 8 BSD-3-Clause 0 1 2 Updated Oct 20, 2026
  • dls2 Public

    Implementation of the DLS2 framework

    iit-DLSLab/dls2's past year of commit activity
    C++ 7 BSD-3-Clause 0 57 (2 issues need help) 5 Updated Oct 20, 2026
  • state_estimation_benchmark Public

    A Proprioceptive-Only Benchmark for Quadruped Robot's State Estimation

    iit-DLSLab/state_estimation_benchmark's past year of commit activity
    C++ 27 BSD-3-Clause 1 1 0 Updated Oct 20, 2026
  • ecat-client-advr Public Forked from Advanced-Robotics-Facility/ecat-client-advr

    EtherCAT Client for the the communication with the master.

    iit-DLSLab/ecat-client-advr's past year of commit activity
    C++ 0 1 0 0 Updated Oct 20, 2026
  • LocoPilot Public
    iit-DLSLab/LocoPilot's past year of commit activity
    Python 1 MIT 0 0 0 Updated Oct 19, 2026
  • piper-ros2-dls Public

    A wrapper over piper_sdk repository, that adds a new script for comunicating with DLS controllers

    iit-DLSLab/piper-ros2-dls's past year of commit activity
    Python 7 2 0 0 Updated Oct 19, 2026
  • sim2real-robot-identification Public

    A joints calibration routine for quadrupeds and manipulators to facilitate sim-to-real transfer from isaaclab and mujoco to real robots

    iit-DLSLab/sim2real-robot-identification's past year of commit activity
    Python 89 BSD-3-Clause 8 1 0 Updated Oct 19, 2026
  • dls2_ros2_interface Public
    iit-DLSLab/dls2_ros2_interface's past year of commit activity
    Python 1 BSD-3-Clause 0 0 1 Updated Oct 19, 2026
  • robotlib Public
    iit-DLSLab/robotlib's past year of commit activity
    C++ 1 BSD-3-Clause 0 2 1 Updated Oct 16, 2026
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