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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 518 71

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 276 36

  3. muse muse Public

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

    C++ 136 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 127 12

  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 91 8

Repositories

Showing 10 of 77 repositories
  • 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 518 BSD-3-Clause 71 2 0 Updated Sep 20, 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 127 BSD-3-Clause 12 5 0 Updated Sep 20, 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 76 BSD-3-Clause 6 1 0 Updated Sep 20, 2026
  • robotlib Public
    iit-DLSLab/robotlib's past year of commit activity
    C++ 1 BSD-3-Clause 0 2 1 Updated Sep 18, 2026
  • pinocchio-gluecode Public
    iit-DLSLab/pinocchio-gluecode's past year of commit activity
    C++ 1 BSD-3-Clause 0 0 1 Updated Sep 18, 2026
  • dls2_msgs Public
    iit-DLSLab/dls2_msgs's past year of commit activity
    CMake 1 BSD-3-Clause 0 1 0 Updated Sep 18, 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 1 Updated Sep 18, 2026
  • dls2_ros2_interface Public
    iit-DLSLab/dls2_ros2_interface's past year of commit activity
    Python 1 BSD-3-Clause 0 0 0 Updated Sep 18, 2026
  • dls2 Public

    Implementation of the DLS2 framework

    iit-DLSLab/dls2's past year of commit activity
    C++ 7 BSD-3-Clause 0 59 (2 issues need help) 4 Updated Sep 17, 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++ 136 BSD-3-Clause 21 4 0 Updated Sep 16, 2026
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