Awesome Robotics Libraries

Python sample codes and textbook for robotics algorithms.

🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research

Multi-Joint dynamics with Contact. A general purpose physics simulator.

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

Open-source simulator for autonomous driving research.

Convert Machine Learning Code Between Frameworks

PyTorch version of Stable Baselines, reliable implementations of reinforcement learning algorithms.

A standard API for single-agent reinforcement learning environments, with popular reference environments and related utilities (formerly Gym)

Point Cloud Library (PCL)

High-quality single file implementation of Deep Reinforcement Learning algorithms with research-friendly features (PPO, DQN, C51, DDPG, TD3, SAC, PPG)

Unified framework for robot learning with multi-physics/renderer support

header only, dependency-free deep learning framework in C++14

mlpack: a fast, header-only C++ machine learning library

NVIDIA PhysX SDK

Webots Robot Simulator

Dimensional is the agentic operating system for physical space. Command humanoids, quadrupeds, drones, and other hardware platforms in natural language and build multi-agent systems that work seamlessly with physical input (cameras, lidar, actuators).

A large scale non-linear optimization library

NVIDIA Isaac Sim™ is an open-source application on NVIDIA Omniverse for developing, simulating, and testing AI-driven robots in realistic virtual environments.

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

Model-based design and verification for robotics.

A flexible, high-performance 3D simulator for Embodied AI research.

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark

DyNet: The Dynamic Neural Network Toolkit

Isaac Gym Environments for Legged Robots

NSGA2, NSGA3, R-NSGA3, MOEAD, Genetic Algorithms (GA), Differential Evolution (DE), CMAES, PSO

NSGA2, NSGA3, R-NSGA3, MOEAD, Genetic Algorithms (GA), Differential Evolution (DE), CMAES, PSO

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.

C++ implementation of Lie Groups using Eigen.

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python, Matlab/Octave, Julia or Javascript

PositionBasedDynamics is a library for the physically-based simulation of rigid bodies, deformable solids and fluids.

library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization

The Operator Splitting QP Solver

The Open Motion Planning Library (OMPL)

:zap: The Mobile Robot Programming Toolkit (MRPT)

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

Fluid simulation engine for computer graphics applications

:robot: The MoveIt motion planning framework

CUDA Accelerated Robot Library

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics

A small C++11 header-only library for Lie theory.

An open-source platform for Visual AI.

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

Optimal Control for Switched Systems

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

DART: Dynamic Animation and Robotics Toolkit

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

Modular Reinforcement Learning (RL) library (implemented in PyTorch, JAX, and NVIDIA Warp) with support for Gymnasium/Gym, NVIDIA Isaac Lab, MuJoCo Playground and other environments