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 526 70

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 278 35

  3. muse muse Public

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

    C++ 140 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 136 13

  5. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 122 7

  6. DWMPC DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    C 90 8

Repositories

Showing 10 of 77 repositories
  • 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 12, 2026
  • dls2_msgs Public
    iit-DLSLab/dls2_msgs's past year of commit activity
    CMake 1 BSD-3-Clause 0 1 2 Updated Oct 12, 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 29 BSD-3-Clause 4 1 0 Updated Oct 12, 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 136 BSD-3-Clause 13 5 0 Updated Oct 12, 2026
  • 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++ 11 4 0 0 Updated Oct 12, 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 526 BSD-3-Clause 70 1 0 Updated Oct 11, 2026
  • gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    iit-DLSLab/gym-quadruped's past year of commit activity
    Python 80 19 6 (1 issue needs help) 0 Updated Oct 11, 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 86 BSD-3-Clause 8 1 0 Updated Oct 10, 2026
  • 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++ 140 BSD-3-Clause 21 3 0 Updated Oct 9, 2026
  • dls2_ros2_interface Public
    iit-DLSLab/dls2_ros2_interface's past year of commit activity
    Python 1 BSD-3-Clause 0 0 2 Updated Oct 9, 2026
View all repositories