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@ethz-mrl Mobile Robotics Lab

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    40 repositories

    • stretch_ros2

      Public
      ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc.
      Python
      •67•0•0•0•Updated Apr 22, 2026Apr 22, 2026

    • supereight2

      Public
      High performance volumetric occupancy and TSDF mapping
      octreelidar3d-reconstruction
      octreelidar3d-reconstructiontsdf3d-mappingoccupancy-mappingvolumetric-mapping
      C++
      •5•31•0•0•Updated Apr 17, 2026Apr 17, 2026

    • VidBot

      Public
      [CVPR 2025] VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation
      Python
      •
      MIT License
      •6•47•1•0•Updated Apr 10, 2026Apr 10, 2026

    • Actron3D

      Public
      [ICRA 2026] Actron3D: Learning Actionable Neural Functions from Videos for Transferable Robotic Manipulation
      0•1•1•0•Updated Apr 1, 2026Apr 1, 2026

    • nvblox

      Public
      A GPU-accelerated TSDF and ESDF library for robots equipped with RGB-D cameras.
      humanoid
      humanoid
      C++
      •
      Other
      •146•0•0•1•Updated Mar 18, 2026Mar 18, 2026

    • OKVIS2-X

      Public
      OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS
      C++
      •
      Other
      •38•295•2•0•Updated Mar 17, 2026Mar 17, 2026

    • language_feature_node

      Public
      Separate ROS2 package for the Language Query Node used in FindAnything
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Mar 17, 2026Mar 17, 2026

    • okvis2

      Public
      Open Keyframe-based Visual-Inertial SLAM (Version 2)
      C++
      •
      Other
      •30•200•6•1•Updated Feb 18, 2026Feb 18, 2026

    • findanything

      Public
      JavaScript
      •0•0•0•0•Updated Feb 18, 2026Feb 18, 2026

    • livox_ros_driver2

      Public
      Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
      humanoid
      humanoid
      C++
      •
      Other
      •592•0•0•0•Updated Feb 17, 2026Feb 17, 2026

    • srl-mav-sim

      Public
      Simulator for SRL MAVs based on PX4 and Ignition Gazebo
      Python
      •0•2•0•3•Updated Feb 17, 2026Feb 17, 2026

    • KISS-Matcher

      Public
      KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples
      C++
      •
      MIT License
      •76•0•0•0•Updated Jan 16, 2026Jan 16, 2026

    • srl-projection

      Public
      Camera and LiDAR projection / back projection (for single sensor)
      C++
      •0•2•0•0•Updated Jan 8, 2026Jan 8, 2026

    • nvblox_ros2

      Public
      NVIDIA-accelerated 3D scene reconstruction and Nav2 local costmap provider using nvblox, without Isaac ROS deps.
      humanoid
      humanoid
      C++
      •
      Apache License 2.0
      •129•0•0•2•Updated Dec 12, 2025Dec 12, 2025

    • direct_lidar_inertial_odometry

      Public
      [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise…
      humanoid
      humanoid
      C++
      •
      MIT License
      •234•0•0•1•Updated Nov 21, 2025Nov 21, 2025

    • GSFusion

      Public
      GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion
      C++
      •11•220•7•0•Updated Nov 18, 2025Nov 18, 2025

    • SuperEvent

      Public
      Data-driven keypoint detection and description in event streams.
      Python
      •
      Other
      •4•29•0•0•Updated Nov 7, 2025Nov 7, 2025

    • MonSter-plusplus

      Public
      MonSter++: A Unified Geometric Foundation Model for Stereo and Multi-View Depth Estimation via the Unleashing of Monodepth Priors
      Python
      •24•0•0•0•Updated Sep 26, 2025Sep 26, 2025

    • mav_interface_msgs

      Public
      Messages for interfacing with SRL MAV controllers
      C++
      •0•0•0•0•Updated Sep 1, 2025Sep 1, 2025

    • mrl_navigation

      Public
      Open-source code for MAV navigation developed by MRL.
      0•8•0•0•Updated Jul 19, 2025Jul 19, 2025

    • regrace

      Public
      Python
      •
      Creative Commons Zero v1.0 Universal
      •0•3•0•0•Updated Jul 16, 2025Jul 16, 2025

    • ethz-mrl.github.io

      Public
      [Not implemented] MRL Github page
      HTML
      •0•0•0•0•Updated Jul 3, 2025Jul 3, 2025

    • language_feature_msgs

      Public
      Separate ROS2 package containing msg definitions used in FindAnything
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Jun 24, 2025Jun 24, 2025

    • brisk

      Public
      BRISK. The feature.
      C++
      •
      Other
      •3•6•0•0•Updated May 28, 2025May 28, 2025

    • PX4-Autopilot

      Public
      PX4 Autopilot Software
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •15k•0•0•0•Updated May 15, 2025May 15, 2025

    • px4-gzsim-plugins

      Public
      Gazebosim plugins for mavlink transport
      C++
      •27•0•0•0•Updated Mar 28, 2025Mar 28, 2025

    • Livox-SDK2

      Public
      Drivers for receiving LiDAR data and controlling lidar, support Lidar HAP and Mid-360.
      humanoid
      humanoid
      C++
      •
      Other
      •297•0•0•0•Updated Nov 6, 2024Nov 6, 2024

    • mesh-diff-tool

      Public
      Compute the accuracy and completeness of 3D mesh reconstructions
      C++
      •0•5•0•0•Updated Oct 2, 2024Oct 2, 2024

    • ethz_glocal_exploration

      Public
      Efficient local and global exploration on submap collections with changing past pose estimates. (ETHZ / ASL)
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •38•0•0•0•Updated Jun 9, 2024Jun 9, 2024

    • semantic-exploration-icra-2023

      Public
      Code for the ICRA 2023 paper “Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV”
      roboticsicra2023
      roboticsicra2023
      2•49•2•0•Updated Nov 28, 2023Nov 28, 2023
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