ETH Zurich Robotic Systems Lab

ETH Zurich's center for legged robots and reinforcement-learning locomotion control, birthplace of ANYmal.

The Robotic Systems Lab is part of ETH Zurich's Department of Mechanical and Process Engineering, led by Professor Marco Hutter, with a GitHub presence under the name leggedrobotics. It is best known for legged robots: the ANYmal quadruped was developed here, spinning out the company ANYbotics in 2016. The lab is one of the pioneers of the “train with reinforcement learning in simulation, then transfer to the real robot” approach to locomotion control, and has published a series of ANYmal-related results in Science Robotics, including actuator networks, teacher-student blind locomotion, and perceptive locomotion; it has also open-sourced the training codebases legged_gym and rsl_rl, now widely reused across quadruped and humanoid projects. Hutter also co-leads the Zurich branch of the RAI Institute (formerly the Boston Dynamics AI Institute), and lab alumni have gone on to found companies such as Flexion.

ExampleMany humanoid and quadruped reinforcement-learning projects fork legged_gym directly and use the PPO implementation in rsl_rl to train a walking policy.

Also called

ETH RSL, Legged Robotics (ETH)

Related

ANYbotics · ANYbotics ANYmal · legged_gym · RSL RL · RL-based Locomotion Control · Flexion Robotics

Sources

ETH Zurich Robotic Systems Lab - People
Wikipedia: ANYbotics

As of

2026-09