Awesome Robotics Libraries

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

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)

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

Massively parallel rigidbody physics simulation on accelerator hardware.

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

RL implementations

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

Refer to https://github.com/AcutronicRobotics/gym-gazebo2 for the new version

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

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH

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.