Awesome Robotics Libraries

Python sample codes and textbook for robotics algorithms.

Simulation platform for general-purpose robotics & embodied AI learning.

🤗 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)

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

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

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

The Robot Operating System, is a meta operating system for robots.

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

An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

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

🤖 Places where you can learn robotics (and stuff like that) online 🤖

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.

RTAB-Map library and standalone application

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

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

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.

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

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

DyNet: The Dynamic Neural Network Toolkit

Massively parallel rigidbody physics simulation on accelerator hardware.

Isaac Gym Environments for Legged Robots

High-performance C++ library for multiphysics and multibody dynamics simulations

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

LSD-SLAM

nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

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

High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.

C++ implementation of Lie Groups using Eigen.

Direct Sparse Odometry

An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.

Fast Library for Approximate Nearest Neighbors

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.