Open-source robotics software
583 open-source libraries, tools and applications tagged robotics, ranked by how closely robotics is their primary purpose, then by adoption and maintenance health. Each entry links to a page with sources, use cases and when to choose or avoid it.
583 products, primary matches first, then adoption-weighted; health v2 shown.
| Product | Health v2 | Stars | Maturity |
|---|---|---|---|
| openpilot openpilot is an open-source operating system for robotics that currently functions as an advanced driver assistance system (ADAS) for 300+ … | 89 | 63922 | active |
| PythonRobotics PythonRobotics is a collection of Python sample codes and an accompanying textbook that demonstrate a wide range of robotics algorithms. It… | 76 | 30641 | active |
| Genesis World Genesis World is a Python simulation platform for physical AI and robotics that combines a unified multi-physics engine, a photorealistic r… | 95 | 30058 | active |
| LeRobot LeRobot is a Python library that provides a unified interface for controlling real robots, recording datasets, and training/deploying polic… | 90 | 28232 | active |
| LeRobot LeRobot is Hugging Face's PyTorch library for real-world robotics, providing a hardware-agnostic Python interface for controlling robots, a… | 90 | 28232 | active |
| Apollo Apollo is an open-source autonomous driving platform providing a high-performance, modular software stack for developing, testing, and depl… | 54 | 26853 | active |
| microsoft/AirSim AirSim is an open‑source high‑fidelity simulator for drones, cars and other vehicles built as a plugin for Unreal Engine and Unity. It prov… | 66 | 18501 | active |
| ArduPilot ArduPilot is an open-source autopilot firmware suite (ArduPlane, ArduCopter, ArduRover, ArduSub) written in C++ that controls unmanned vehi… | 100 | 16081 | stable |
| MuJoCo MuJoCo (Multi-Joint dynamics with Contact) is a general-purpose physics engine for fast and accurate simulation of articulated structures i… | 100 | 15719 | active |
| Dummy Robot Dummy-Robot is a complete open-source design for a super-compact smart robotic arm, including 3D/CAD mechanical models, PCB hardware design… | 32 | 15569 | active |
| bulletphysics/bullet3 Bullet Physics SDK is a C++ library providing real-time collision detection and rigid/soft body multi-physics simulation, with Python bindi… | 41 | 14766 | stable |
| CARLA Simulator CARLA is an open-source simulator for autonomous driving research built on Unreal Engine, providing open digital assets like urban layouts,… | 67 | 14465 | active |
| Physical-Intelligence/openpi Open-source repository from Physical Intelligence containing vision-language-action (VLA) models for robotics, including π₀, π₀-FAST, and π… | 64 | 13991 | active |
| RL Baselines3 Zoo Stable Baselines3 is a Python library providing reliable, well-tested PyTorch implementations of reinforcement learning algorithms with a u… | 86 | 13883 | stable |
| PX4/PX4-Autopilot PX4 is an open-source autopilot flight stack for drones and unmanned vehicles, supporting multirotors, fixed-wing, VTOL, rovers, and other … | 87 | 12829 | stable |
| Autoware Autoware is the world's leading open-source, production-ready software stack for autonomous driving, built on ROS 2 and hosted by the Autow… | 90 | 12155 | stable |
| nasa/fprime F´ (F Prime) is a component-driven, flight-proven C++ framework from NASA JPL for rapidly developing and deploying spaceflight and other em… | 99 | 11822 | stable |
| Betaflight Betaflight is open-source flight controller firmware for multi-rotor and fixed-wing RC craft, written in C for STM32-based boards, focusing… | 94 | 11637 | active |
| rerun-io/rerun Rerun is an open-source SDK and viewer for logging, storing, querying, and visualizing multi-rate multimodal data such as images, point clo… | 96 | 11498 | active |
| PointCloudLibrary/pcl The Point Cloud Library (PCL) is a large-scale, modular open-source C++ library for 2D/3D image and point cloud processing. It provides sta… | 66 | 11131 | stable |
| Open 3D Engine (O3DE) Open 3D Engine (O3DE) is an Apache 2.0-licensed, multi-platform 3D game engine for building AAA games, cinema-quality 3D worlds, and high-f… | 88 | 9739 | active |
| JPL Open Source Rover The JPL Open Source Rover is a build-it-yourself, scaled-down 6-wheel rover based on the design JPL uses to explore Mars, made entirely fro… | 65 | 9660 | active |
| peng-zhihui/ElectronBot ElectronBot is an open-source mini desktop robot inspired by EVE from WALL-E, featuring 6 degrees of freedom, USB communication, and a disp… | 32 | 9511 | active |
| hybridgroup/gobot Gobot is a Go framework for robotics, physical computing, drones, and IoT, supporting 35+ hardware platforms including Arduino, Raspberry P… | 51 | 9476 | active |
| RealSense SDK RealSense SDK 2.0 (librealsense) is a cross-platform C++ library for Intel/RealSense depth cameras, providing depth and color streaming plu… | 92 | 9040 | active |
| isaac-sim/IsaacLab Isaac Lab is a GPU-accelerated open-source framework for robot learning built on NVIDIA Isaac Sim, unifying workflows like reinforcement le… | 96 | 8397 | active |
| NVIDIA/Isaac-GR00T NVIDIA Isaac GR00T N1.7 is an open vision-language-action (VLA) foundation model for generalized humanoid robot skills, taking language and… | 70 | 8116 | stable |
| NVIDIA/warp NVIDIA Warp is a Python framework that JIT-compiles regular Python functions into efficient CPU or CUDA GPU kernels. It provides differenti… | 99 | 7215 | active |
| OpenMower OpenMower is an open-source project that converts cheap off-the-shelf robotic lawn mowers into smart, RTK GPS-guided mowing robots by repla… | 83 | 6727 | active |
| PlotJuggler PlotJuggler is a fast, open-source desktop application for visualizing time series data with a drag-and-drop interface and OpenGL rendering… | 97 | 6220 | active |
| ROS 2 ROS 2 (Robot Operating System) is a meta operating system consisting of software libraries and tools for building robot applications, from … | 96 | 6089 | stable |
| serialport/node-serialport Node SerialPort is a JavaScript/TypeScript library for reading from and writing to serial ports in Node.js and Electron. It provides cross-… | 47 | 5992 | stable |
| Rapier Rapier is a set of high-performance 2D and 3D physics engines written in Rust, providing rigid-body dynamics, joint constraints, collision … | 77 | 5848 | stable |
| Newton Newton is an open-source, GPU-accelerated physics simulation engine built on NVIDIA Warp, targeting roboticists and simulation researchers.… | 87 | 5813 | active |
| Vector-Wangel/XLeRobot XLeRobot is an open-source project for building a practical dual-arm mobile home robot for around $660 with under four hours of assembly ti… | 63 | 5564 | active |
| RLinf/RLinf RLinf is an open-source, flexible and scalable reinforcement learning training infrastructure for embodied AI (vision-language-action model… | 72 | 5453 | active |
| FAST-LIO FAST-LIO is a computationally efficient and robust LiDAR-inertial odometry package that tightly couples LiDAR feature points with IMU data … | 32 | 5280 | stable |
| Adam-CAD/CADAM CADAM is an open-source web application that converts natural language descriptions and images into 3D CAD models using LLM-powered agents … | 73 | 5210 | active |
| QGroundControl QGroundControl is a cross-platform ground control station for MAVLink-enabled drones, providing full flight control, mission planning, vehi… | 99 | 5047 | stable |
| TixiaoShan/LIO-SAM LIO-SAM is a real-time tightly-coupled lidar-inertial odometry and mapping package built on factor graph optimization with GTSAM. It fuses … | 32 | 4935 | stable |
| Nav2 Nav2 is the industry-standard navigation framework for ROS 2, providing perception, path planning, control, localization, and behavior-tree… | 100 | 4821 | stable |
| NVIDIA-Omniverse/PhysX NVIDIA PhysX SDK, a real-time physics simulation engine for games, robotics, and simulation, plus Omniverse PhysX extensions and the ovphys… | 96 | 4775 | stable |
| hku-mars/FAST-LIVO2 FAST-LIVO2 is a fast, tightly-coupled LiDAR-inertial-visual odometry and mapping system written in C++ on ROS. It provides real-time, accur… | 54 | 4755 | active |
| google-deepmind/dm_control Google DeepMind's Python stack for physics-based simulation and reinforcement learning environments built on the MuJoCo physics engine. It … | 99 | 4710 | stable |
| Webots Webots is an open-source, multi-platform desktop application for modeling, programming, and simulating robots, vehicles, and mechanical sys… | 67 | 4698 | stable |
| Sesame Robot Sesame is an open-source, 3D-printable mini quadruped robot powered by an ESP32 microcontroller and eight servo motors, featuring an expres… | 59 | 4627 | active |
| real-stanford/diffusion_policy Official PyTorch implementation of Diffusion Policy, a visuomotor robot policy learning method that represents robot behavior as a conditio… | 31 | 4588 | stable |
| ceres-solver/ceres-solver Ceres Solver is an open-source C++ library for modeling and solving large-scale non-linear optimization problems, including bounded non-lin… | 77 | 4581 | stable |
| Mobile ALOHA Mobile ALOHA is an open-source system for low-cost whole-body teleoperation and data collection with a bimanual mobile manipulation robot, … | 29 | 4476 | active |
| reBot Arm An open-source robotic arm project (hardware and software) from Seeed, with CERN-OHL-W-2.0 licensed hardware designs and Apache-2.0 softwar… | 61 | 4346 | active |
| MichaelGrupp/evo evo is a Python package with CLI executables and a small library for evaluating, comparing, and plotting trajectory output from odometry an… | 74 | 4318 | stable |
| isaac-sim/IsaacSim NVIDIA Isaac Sim is an open-source robotics simulation application built on NVIDIA Omniverse for developing, simulating, and testing AI-dri… | 83 | 4283 | active |
| INAV INAV is open-source navigation-enabled flight controller firmware for drones, planes, and other RC aircraft. It provides autopilot features… | 86 | 4268 | active |
| BehaviorTree.CPP BehaviorTree.CPP is a C++17 framework for building Behavior Trees, designed to be flexible, reactive, and fast, with asynchronous actions a… | 82 | 4237 | stable |
| cvg/Hierarchical-Localization hloc is a modular Python toolbox for state-of-the-art 6-DoF visual localization, combining image retrieval and feature matching (SuperPoint… | 44 | 4232 | active |
| RobotLocomotion/drake Drake is a C++ toolbox (with Python bindings) for model-based design and verification of robotics systems, developed by the Robot Locomotio… | 100 | 4230 | stable |
| Open Duck Mini Open Duck Mini is an open-source project to build a miniature (~42cm) bipedal robot inspired by Disney's BDX droid, with a bill of material… | 51 | 4208 | active |
| ODAS RTAB-Map (Real-Time Appearance-Based Mapping) is a C++ library and standalone application implementing graph-based SLAM for RGB-D, stereo, … | 86 | 4044 | stable |
| Dora Dora is a Rust-based dataflow middleware framework for building real-time robotics and AI applications, where applications are modeled as d… | 95 | 4030 | active |
| facebookresearch/map-anything MapAnything is an open-source research framework from Meta and CMU for universal feed-forward metric 3D reconstruction using an end-to-end … | 71 | 3813 | active |
| stack-of-tasks/pinocchio Pinocchio is a fast C++ library (with Python bindings) implementing state-of-the-art rigid body dynamics algorithms for poly-articulated sy… | 90 | 3788 | active |
| StuckAtPrototype Racer An open-source hardware and firmware project for a tiny PCB-based RC car built around the ESP32-H2, including KiCad schematics, gerbers, 3D… | 41 | 3786 | active |
| starVLA/starVLA StarVLA is an open-source, Lego-like modular codebase for developing Vision-Language-Action (VLA) models for generalist robots. It unifies … | 67 | 3745 | active |
| borglab/gtsam GTSAM is a C++ library implementing smoothing and mapping (SAM) for robotics and vision using factor graphs and Bayes networks as its core … | 93 | 3734 | active |
| NVIDIA/skills A catalog of NVIDIA-verified Agent Skills — portable instruction sets that teach AI coding agents like Claude Code and Codex how to use NVI… | 60 | 3668 | active |
| NVlabs/GR00T-WholeBodyControl NVIDIA's unified platform for developing, training, and deploying whole-body controllers for humanoid robots, including the decoupled WBC m… | 60 | 3654 | active |
| OpenArm OpenArm is a fully open-source 7DOF humanoid robot arm (hardware, firmware, and software) designed for physical AI research and deployment … | 67 | 3605 | active |
| MuShibo/Micro-Wheeled_leg-Robot An open-source desktop two-wheeled legged robot project with full mechanical, PCB, and firmware designs. It is built around an ESP32 runnin… | 24 | 3605 | active |
| pytorch/rl TorchRL is a PyTorch-native library of composable primitives for building reinforcement learning systems, including environments, policies,… | 100 | 3603 | active |
| Motion Planning A collection of motion planning algorithm implementations covering graph search (A*, JPS, D*, LPA*, D* Lite, Theta*), sampling-based planni… | 64 | 3592 | active |
| NVlabs/FoundationPose FoundationPose is NVIDIA's unified foundation model for 6D object pose estimation and tracking of novel objects, supporting both model-base… | 59 | 3587 | active |
| unitreerobotics/unitree_rl_gym A reinforcement learning gym environment for training locomotion policies on Unitree robots (Go2, H1, H1_2, G1) using Isaac Gym and Mujoco.… | 39 | 3583 | active |
| petercorke/robotics-toolbox-python A Python library providing tools for robot manipulator kinematics, dynamics, Jacobians, and trajectory generation, built on NumPy and SciPy… | 99 | 3545 | active |
| autorope/donkeycar Donkeycar is an open-source Python library and hardware platform for building small-scale self-driving RC cars with Raspberry Pi or Jetson … | 85 | 3515 | active |
| ob-f/OpenBot OpenBot is an open-source project that turns Android smartphones into the brains of low-cost robots, paired with a ~$50 electric vehicle bo… | 64 | 3505 | active |
| openpilot opendbc is a Python API for controlling and reading state from cars over CAN bus, including steering, gas, and brake actuation via ADAS int… | 90 | 3487 | active |
| VESC VESC is the open-source firmware for the VESC DC/BLDC/FOC motor controllers, written in C for STM32-based boards. It supports many hardware… | 75 | 3477 | stable |
| RainerKuemmerle/g2o g2o is an open-source C++ framework for optimizing graph-based nonlinear error functions, commonly used for nonlinear least squares problem… | 66 | 3466 | stable |
| mani-skill/ManiSkill ManiSkill is an open-source GPU-parallelized robotics simulation framework and benchmark built on SAPIEN, focused on manipulation skills. I… | 85 | 3442 | active |
| luigifreda/pyslam pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras with a wide range of local and global fe… | 76 | 3430 | active |
| HKUST-Aerial-Robotics/Fast-Planner Fast-Planner is a C++/ROS trajectory planning framework enabling quadrotors to fly fast through complex unknown environments. It provides a… | 32 | 3423 | stable |
| AlexanderKoch-Koch/low_cost_robot An open-source project with files and Python control code for building a ~$250 low-cost robot arm using Dynamixel XL430 and XL330 servo mot… | 26 | 3423 | active |
| Source-Robotics/PAROL6-Desktop-robot-arm PAROL6 is an open-source, 3D-printed desktop robotic arm designed to behave like an industrial robot, with open-source control software, GU… | 62 | 3323 | active |
| amov-lab/Prometheus Prometheus is an open-source autonomous drone software system platform built on PX4 flight controller firmware and ROS. It provides onboard… | 53 | 3270 | active |
| Eclipse Zenoh Zenoh is a Rust-implemented pub/sub/query protocol and library that unifies data in motion, data at rest, and computations with minimal wir… | 97 | 3259 | active |
| ANYbotics/grid_map A C++ library with a ROS interface for managing multi-layered 2D grid maps for mobile robotic mapping, storing data like elevation, travers… | 47 | 3252 | active |
| fishros/install A one-click installation script (fishros) for setting up ROS/ROS2, Docker, VSCode, Node.js, WeChat, and system source configuration on Ubun… | 67 | 3231 | active |
| PJLab-ADG/SensorsCalibration OpenCalib is a C++ multi-sensor calibration toolbox for autonomous driving that calibrates IMU, LiDAR, camera, and radar sensors, both intr… | 32 | 3228 | active |
| Johnny-Five Johnny-Five is a Firmata protocol-based JavaScript robotics and IoT programming framework for Node.js. It provides composable, consistent A… | 23 | 13409 | maintenance |
| rmurai0610/MASt3R-SLAM MASt3R-SLAM is a real-time monocular dense SLAM system built on the MASt3R two-view 3D reconstruction prior, producing globally consistent … | 40 | 3191 | active |
| mjlab mjlab is a Python framework that combines Isaac Lab's manager-based API with MuJoCo Warp, a GPU-accelerated version of MuJoCo, for reinforc… | 82 | 3163 | active |
| dexmal/dexbotic Dexbotic is an open-source PyTorch-based toolbox for developing Vision-Language-Action (VLA) models for embodied intelligence. It unifies p… | 70 | 3144 | active |
| OpenVINS OpenVINS is an open-source C++ platform for visual-inertial navigation research, centered on a filter-based (MSCKF/EKF) estimator that fuse… | 44 | 3121 | active |
| leggedrobotics/rsl_rl RSL-RL is a GPU-accelerated, lightweight reinforcement learning library for robotics research, featuring algorithms like PPO and Student-Te… | 97 | 3075 | active |
| kairos-agi/kairos Kairos is the official open-source implementation of a 4B-parameter native cross-embodiment world model that unifies video understanding, f… | 60 | 3066 | active |
| projectchrono/chrono Project Chrono is a high-performance, open-source C++ multiphysics simulation library for multibody dynamics, finite element analysis, gran… | 77 | 3053 | stable |
| simplefoc/Arduino-FOC SimpleFOC is an Arduino/PlatformIO C++ library implementing Field Oriented Control (FOC) for BLDC and stepper motors. It supports many moto… | 71 | 3042 | active |
| NxRLab/ModernRobotics The official code library accompanying the textbook 'Modern Robotics: Mechanics, Planning, and Control', providing educational implementati… | 50 | 2985 | stable |
| OpenMind/OM1 OM1 is a modular AI runtime and hardware abstraction layer for building multimodal AI agents that run on physical robots and in simulators.… | 78 | 2933 | active |
| eProsima Fast DDS eProsima Fast DDS is a C++ implementation of the OMG Data Distribution Service (DDS) standard with its RTPS wire protocol, serving as the d… | 97 | 2924 | stable |
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