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

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

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)

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

NVIDIA PhysX SDK

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).

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.

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

Massively parallel rigidbody physics simulation on accelerator hardware.

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.

The Open Motion Planning Library (OMPL)

Fluid simulation engine for computer graphics applications

CUDA Accelerated Robot Library

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

An open-source platform for Visual AI.

RL implementations

DART: Dynamic Animation and Robotics Toolkit

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

robotic motion planning library

Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

Create, manipulate and convert representations of position and orientation in 2D or 3D using Python

Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

Multibody dynamics tool kit.

An open source framework for research in Embodied-AI from AI2.

High-performance, time-indexed object storage for robotics and industrial IoT

Fiducial markers for SLAM.

Analytical inverse kinematics for 6R and 7R revolute arms. Returns every IK branch at machine-precision FK closure. Ships per-arm build artifacts; covers non-Pieper 6R and non-SRS 7R geometries.

Simulation framework for nonsmooth dynamical systems

A lean, ROS-free sim-to-real framework for training and deploying Vision-Language-Action (VLA) models and RL agents. Native MuJoCo Gymnasium wrappers with synchronous execution for Franka, UR5e, xArm, SO101, YAM and Rizon.

Openai Gym with Dart support

A lightweight toolkit for quantitatively scoring LeRobot episodes.