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 |
|---|---|---|---|
| NVlabs/FoundationStereo FoundationStereo is NVIDIA's official PyTorch implementation of a foundation model for zero-shot stereo depth estimation, published as a CV… | 44 | 2923 | active |
| RoboTwin-Platform/RoboTwin RoboTwin 2.0 is a scalable benchmark and data-generation platform for bimanual (dual-arm) robotic manipulation, built on simulated digital … | 66 | 2914 | active |
| RL Baselines3 Zoo RL Baselines3 Zoo is a training framework for reinforcement learning agents built on Stable Baselines3. It provides CLI scripts for trainin… | 88 | 2892 | active |
| physical-superintelligence-lab/Psi0 Psi-Zero (Ψ₀) is an open vision-language-action (VLA) foundation model for dexterous humanoid loco-manipulation, combining a Qwen3-VL backb… | 59 | 2859 | active |
| viser-project/viser Viser is a Python library for web-based 3D visualization aimed at computer vision and robotics. It provides APIs for rendering 3D primitive… | 96 | 2803 | active |
| stevenlovegrove/Pangolin Pangolin is a lightweight, portable C++ utility library for rapid prototyping of 3D, numeric, and video-based programs, providing cross-pla… | 81 | 2750 | stable |
| TWIST GMR is a Python library for general motion retargeting that converts human motions into joint commands for diverse humanoid robots in real … | 49 | 2741 | active |
| dreamzero0/dreamzero DreamZero is NVIDIA's World Action Model (WAM) that jointly predicts future video and actions from a pretrained video diffusion backbone, e… | 48 | 2700 | active |
| princeton-vl/DROID-SLAM DROID-SLAM is a deep learning-based visual SLAM system for monocular, stereo, and RGB-D cameras that estimates camera trajectory and dense … | 38 | 2699 | active |
| jlblancoc/nanoflann nanoflann is a C++11 header-only library for fast nearest neighbor search using KD-trees. It is designed for efficient queries over point c… | 95 | 2697 | stable |
| OpenHD/OpenHD OpenHD is an open-source digital FPV (first-person view) software suite for long-range, low-latency video transmission, telemetry, and RC c… | 67 | 2684 | active |
| ZJU-FAST-Lab/ego-planner EGO-Planner is a lightweight, ESDF-free gradient-based local trajectory planner for quadrotors, implemented in C++ on ROS. It computes coll… | 33 | 2683 | stable |
| ROS Navigation Stack The ROS Navigation Stack, a 2D navigation system for mobile robots that consumes odometry, sensor streams, and a goal pose, and outputs saf… | 10 | 2663 | stable |
| open-gigaai/giga-brain-0 GigaBrain-0/0.7 is an open-source vision-language-action (VLA) model family for generalist embodied agents, powered by world models and a t… | 60 | 2659 | active |
| SteveMacenski/slam_toolbox Slam Toolbox is a 2D SLAM library for ROS and ROS 2 providing lifelong mapping, localization, and pose-graph manipulation for potentially m… | 89 | 2658 | active |
| robosuite robosuite is a modular simulation framework powered by the MuJoCo physics engine for robot learning, offering standardized benchmark enviro… | 66 | 2643 | active |
| Eclipse iceoryx iceoryx2 is an ultra-low latency inter-process communication middleware with a Rust core, offering true zero-copy, lock-free messaging via … | 80 | 2592 | active |
| ace-trump-tech/MindPaw MindPaw is an open-source desktop quadruped robot dog built on ESP8266 with roughly ¥50 in parts, featuring voice control, gesture recognit… | 56 | 2589 | active |
| raulmur/ORB_SLAM2 ORB-SLAM2 is a real-time SLAM library for monocular, stereo, and RGB-D cameras that computes camera trajectories and sparse 3D reconstructi… | 32 | 10245 | maintenance |
| simbody/simbody Simbody is a high-performance open-source C++ multibody dynamics library for science- and engineering-quality simulation of articulated mec… | 66 | 2552 | stable |
| AprilTag AprilTag is a small C library implementing a visual fiducial (marker) detection system, computing the precise 3D position, orientation, and… | 65 | 2548 | stable |
| Roboto Origin A fully open-source DIY humanoid robot project (ROBOTO_ORIGIN) that can walk and run, including all hardware designs, electronics, training… | 59 | 2537 | active |
| boston-dynamics/spot-sdk The Boston Dynamics Spot SDK for developing applications and payloads that control the Spot quadruped robot. It includes a Python client li… | 75 | 2502 | active |
| LinuxCNC/linuxcnc LinuxCNC is an open-source machine control software that drives CNC machines such as milling machines, lathes, 3D printers, laser and plasm… | 95 | 2501 | stable |
| jyjblrd/Low-Cost-Mocap A low-cost, room-scale motion capture system built with PlayStation cameras and ESP32 hardware, used to track objects and autonomously fly … | 29 | 2487 | active |
| hku-mars/r3live R3LIVE is a tightly-coupled LiDAR-Inertial-Visual sensor fusion framework for robust, real-time state estimation and RGB-colored 3D mapping… | 44 | 2473 | active |
| Circuit-Digest/ESP-Drone ESP-Drone is a DIY drone firmware and hardware project built on the ESP32 and MPU6050 IMU, providing Wi-Fi-based stabilization and phone co… | 58 | 2464 | active |
| BeyondMimic Motion Tracking BeyondMimic's official motion tracking training code, a humanoid control framework built on Isaac Lab that trains sim-to-real-ready whole-b… | 10 | 2444 | active |
| mavlink/mavlink MAVLink is a lightweight, header-only message marshalling library and protocol for communication between drones, onboard components, and gr… | 76 | 2442 | stable |
| ArduPilot/MissionPlanner Mission Planner is the primary open-source ground control station (GCS) for ArduPilot autopilots, written in C#/.NET. It provides point-and… | 68 | 2399 | active |
| pollen-robotics/AmazingHand AmazingHand is an open-source, low-cost, 3D-printable 8-DOF humanoid robotic hand with four fingers driven by Feetech servos, designed to m… | 52 | 2398 | active |
| NVlabs/ProtoMotions ProtoMotions is a GPU-accelerated simulation and reinforcement learning framework for training physically simulated digital humans and huma… | 66 | 2392 | active |
| OctoMap/octomap OctoMap is a C++ library providing an efficient probabilistic 3D mapping framework based on octrees, with occupancy representation and volu… | 85 | 2378 | stable |
| zhm-real/PathPlanning A Python collection of common robotics path planning algorithms, covering search-based methods (Dijkstra, A* and variants, D* Lite) and sam… | 32 | 9362 | maintenance |
| xbpeng/MimicKit MimicKit is a lightweight Python framework providing a suite of motion imitation methods (DeepMimic, AMP, ASE, AWR, and others) for trainin… | 51 | 2360 | active |
| MIT-SPARK/TEASER-plusplus TEASER++ is a fast and certifiably-robust C++ library for rigid body point cloud registration in 3D, with Python and MATLAB bindings. It es… | 44 | 2346 | stable |
| ALOHA ALOHA is an open-source hardware and software system for low-cost bimanual robot teleoperation and demonstration data collection, built on … | 31 | 2336 | active |
| PRBonn/kiss-icp KISS-ICP is a LiDAR odometry pipeline built around a simple ICP-based approach that works out of the box on most datasets without parameter… | 81 | 2326 | active |
| UZ-SLAMLab/ORB_SLAM3 ORB-SLAM3 is a real-time SLAM library supporting Visual, Visual-Inertial, and Multi-Map SLAM with monocular, stereo, and RGB-D cameras usin… | 23 | 9125 | maintenance |
| CHAMP CHAMP is an open-source ROS-based development framework for building quadruped robots and developing locomotion control algorithms, based o… | 32 | 2323 | active |
| OpenHelix-Team/VLA-Adapter VLA-Adapter is the official implementation of a tiny-scale vision-language-action model that bridges vision-language representations to rob… | 47 | 2313 | active |
| casadi/casadi CasADi is an open-source symbolic framework for gradient-based numerical optimization, implementing forward and reverse mode automatic diff… | 93 | 2307 | stable |
| JSBSim-Team/jsbsim JSBSim is an open-source, object-oriented flight dynamics model (FDM) written in C++ that simulates the nonlinear 6-DoF motion of aircraft … | 95 | 2303 | stable |
| google-deepmind/mujoco_playground MuJoCo Playground is an open-source Python library of GPU-accelerated robot learning environments built on MuJoCo MJX and MuJoCo Warp. It s… | 74 | 2250 | active |
| openpnp/openpnp OpenPnP is open source software (with accompanying hardware designs) for controlling SMT pick and place machines used in PCB assembly. It c… | 78 | 2233 | active |
| google-deepmind/tapnet Google DeepMind's official repository for Tracking Any Point (TAP), containing the TAP-Vid and TAPVid-3D benchmarks, the TAPIR and TAPNext … | 75 | 2217 | active |
| OSQP OSQP is a C library for solving convex quadratic programs using an ADMM-based operator splitting method, with interfaces to Python, Julia, … | 47 | 2201 | stable |
| spla-tam/SplaTAM SplaTAM is a dense RGB-D SLAM system that uses 3D Gaussian splatting for high-fidelity scene reconstruction and precise camera tracking fro… | 18 | 2200 | active |
| ZJU-FAST-Lab/ego-planner-swarm EGO-Swarm is a decentralized, asynchronous trajectory planner for single and multi-agent quadrotor navigation in unknown, obstacle-rich env… | 33 | 2197 | stable |
| learnsyslab/gym-pybullet-drones A Python library providing PyBullet-based Gymnasium environments for simulating quadcopter control in single- and multi-agent reinforcement… | 68 | 2173 | active |
| muskie82/MonoGS MonoGS is a dense SLAM system that applies 3D Gaussian Splatting to monocular, stereo, and RGB-D camera tracking and mapping, presented at … | 26 | 2164 | active |
| MRPT/mrpt MRPT is a mature C++ toolkit of libraries and applications for mobile robotics, covering SLAM, localization, probabilistic filtering, senso… | 95 | 2160 | stable |
| Open Motion Planning Library (OMPL) OMPL is an open-source C++ library of over 40 sampling-based motion planning algorithms (RRT-Connect, PRM, RRT*, KPIECE, etc.) across more … | 90 | 2156 | stable |
| LeCAR-Lab/ASAP ASAP is a two-stage framework for training agile humanoid whole-body skills by aligning simulation and real-world physics. It pre-trains mo… | 45 | 2130 | active |
| nv-tlabs/vipe ViPE is an open-source video processing engine from NVIDIA that estimates camera intrinsics, camera motion, and dense near-metric depth map… | 77 | 2122 | active |
| sunnypilot/sunnypilot sunnypilot is an open-source driver assistance system forked from comma.ai's openpilot, providing adaptive cruise control, automated lane c… | 95 | 2121 | active |
| roboterax/humanoid-gym Humanoid-Gym is a reinforcement learning framework built on Nvidia Isaac Gym for training locomotion skills in humanoid robots, with emphas… | 26 | 2093 | active |
| Cartographer Cartographer is a C++ library that computes real-time simultaneous localization and mapping (SLAM) in 2D and 3D from sensor streams such as… | 23 | 7985 | maintenance |
| TurtleBot3 Official ROS packages for the ROBOTIS TurtleBot3 mobile robot platform, providing drivers, bringup, and core launch/configuration files. It… | 84 | 2065 | active |
| facebookresearch/theseus Theseus is a PyTorch-based library for building custom differentiable nonlinear optimization layers, supporting problems in robotics and vi… | 23 | 2060 | active |
| MoveIt Motion Planning Framework MoveIt is an open-source motion planning framework for ROS and ROS 2 that provides manipulation, inverse kinematics, collision checking, an… | 75 | 2024 | stable |
| CANopenNode CANopenNode is a free and open-source CANopen protocol stack written in ANSI C, implementing the standardized CiA301 (EN 50325-4) higher-la… | 60 | 2020 | stable |
| HybridRobotics/berkeley-humanoid-lite Berkeley Humanoid Lite is the open-source codebase for a sub-$5,000 3D-printed humanoid robot platform from UC Berkeley. It includes Isaac … | 51 | 1980 | active |
| cra-ros-pkg/robot_localization robot_localization is a ROS package of nonlinear state estimation nodes (EKF, UKF, and navsat_transform) for fusing IMU, odometry, and othe… | 61 | 1966 | stable |
| fan-ziqi/robot_lab robot_lab is a reinforcement learning extension library for robots built on top of NVIDIA IsaacLab, providing preconfigured locomotion envi… | 78 | 1937 | active |
| Robbyant/lingbot-va LingBot-VA is an autoregressive diffusion framework that unifies video world modeling and robot policy learning in a single interleaved vid… | 53 | 1918 | active |
| koide3/glim GLIM is a versatile and extensible point cloud-based 3D localization and mapping (SLAM) framework written in C++. It performs direct multi-… | 76 | 1881 | active |
| alexliniger/MPCC A C++ and Matlab implementation of a Model Predictive Contouring Controller (MPCC) for autonomous racing, developed at ETH Zurich's Automat… | 64 | 1879 | active |
| NVlabs/curobo cuRobo is a CUDA-accelerated Python library for robot motion generation built on PyTorch, CUDA, and Warp. It provides GPU-parallel algorith… | 75 | 1865 | active |
| okalachev/flix Flix is an open-source ESP32-based quadcopter flight controller and firmware built from scratch in Arduino C++, designed for education and … | 82 | 1864 | active |
| PRIME-RL/SimpleVLA-RL SimpleVLA-RL is an open-source reinforcement learning framework for training Vision-Language-Action (VLA) models for robotic manipulation, … | 43 | 1864 | active |
| RoboVerseOrg/RoboVerse RoboVerse is a unified platform, dataset, and benchmark for scalable and generalizable robot learning, providing tasks, robots, scenes, ass… | 65 | 1863 | active |
| 0x23/MicroManipulatorStepper An open-source, low-cost motorized XYZ micro-manipulator motion control platform achieving sub-micrometer precision, built with 3D-printed … | 61 | 1862 | active |
| boundless-large-model/boundless-world-model Boundless-World-Model (BWM) is a physically consistent, action-conditioned video world model built on Wan2.2-TI2V-5B that acts as a low-cos… | 58 | 1840 | active |
| Robbyant/lingbot-vla LingBot-VLA is a Vision-Language-Action foundation model for robot manipulation, pretrained on 20,000 hours of real-world dual-arm robot da… | 52 | 1837 | active |
| norlab-ulaval/libpointmatcher libpointmatcher is a modular C++ library implementing the Iterative Closest Point (ICP) algorithm for aligning 2D and 3D point clouds, with… | 64 | 1835 | active |
| AgiBot X1 The inference module of the open-source AgiBot X1 humanoid robot software stack, providing model inference, platform drivers, and simulatio… | 25 | 1835 | active |
| nvidia-isaac/cuVSLAM cuVSLAM is NVIDIA's CUDA-accelerated library for real-time visual odometry and simultaneous localization and mapping (SLAM). It supports mu… | 78 | 1824 | active |
| artivis/manif manif is a header-only C++11 library for Lie theory with Python 3 wrappers, providing common Lie groups (SO(2), SE(2), SO(3), SE(3), SE_2(3… | 62 | 1821 | active |
| MakeYourPet/hexapod An open-source project providing 3D-printable STL files, wiring diagrams, and build instructions for constructing a hexapod (six-legged) ro… | 32 | 1817 | active |
| allenai/ai2thor AI2-THOR is an open-source platform from the Allen Institute for AI providing near photo-realistic, interactable 3D environments (iTHOR, Ma… | 42 | 1809 | active |
| Hoverboard FOC Firmware Open-source firmware that replaces the stock software on hoverboard mainboards with Field Oriented Control (FOC) for BLDC motors. It delive… | 69 | 1807 | active |
| thu-ml/RoboticsDiffusionTransformer RDT-1B is a 1B-parameter diffusion foundation model for robot bimanual manipulation, pre-trained on 1M+ multi-robot episodes to predict rob… | 48 | 1806 | active |
| stack-chan/stack-chan Stack-chan is an open-source, JavaScript/TypeScript-driven desktop robot built on M5Stack (CoreS3) hardware, with firmware, MOD application… | 96 | 1799 | active |
| chungmin99/pyroki PyRoki is a modular Python toolkit for robot kinematic optimization built on JAX, providing differentiable forward kinematics from URDFs, c… | 50 | 1797 | active |
| security-union/videocall-rs videocall.rs is an open-source, low-latency video conferencing platform and streaming API written entirely in Rust, built on WebTransport (… | 90 | 1795 | active |
| octo-models/octo Octo is an open-source generalist robot policy: a transformer-based diffusion policy pretrained on 800k robot trajectories from the Open X-… | 18 | 1787 | active |
| ankitdhall/lidar_camera_calibration A ROS package that computes the rigid-body transformation (rotation and translation) between a LiDAR and a camera using 3D-3D point corresp… | 40 | 1771 | active |
| Skythinker616/foc-wheel-legged-robot A complete open-source wheel-legged balancing robot project covering mechanical design (SolidWorks), physics simulation (MATLAB/Simulink/Si… | 29 | 1769 | stable |
| flexible-collision-library/fcl FCL is a C++ library for performing proximity queries on pairs of geometric models composed of triangles. It supports collision detection, … | 67 | 1762 | stable |
| robocasa/robocasa RoboCasa is a large-scale simulation framework for training and benchmarking generally capable robots on everyday tasks, focused on kitchen… | 78 | 1759 | active |
| xioTechnologies/Fusion Fusion is a C library for sensor fusion on Inertial Measurement Units (IMUs), implementing an AHRS algorithm that combines gyroscope, accel… | 75 | 1744 | stable |
| google-deepmind/mujoco_mpc MuJoCo MPC (MJPC) is an interactive application and C++ software framework from Google DeepMind for real-time predictive control with the M… | 67 | 1744 | active |
| verlab/accelerated_features XFeat is a lightweight, fast learned keypoint detector and descriptor for local feature extraction and image matching, supporting both spar… | 16 | 1740 | active |
| robin-shaun/XTDrone XTDrone is a customizable UAV simulation platform built on PX4, ROS, and Gazebo, supporting multi-rotors, fixed-wing, VTOL vehicles, and ot… | 77 | 1733 | active |
| Paparazzi UAV Paparazzi is a free and open-source hardware and software suite for unmanned air vehicles, providing autopilot firmware, ground control sta… | 82 | 1714 | active |
| openpilot Firmware and Python userspace library for the comma.ai panda, a USB CAN and CAN FD interface device built on the STM32H725 microcontroller.… | 77 | 1705 | active |
| amazon-far/holosoma Holosoma is a Python framework for training and deploying reinforcement learning policies on humanoid robots, supporting locomotion and who… | 85 | 1702 | active |
| unitreerobotics/xr_teleoperate xr_teleoperate is a Python application from Unitree Robotics that enables teleoperation of Unitree humanoid robots (G1, H1_2, H2, R1) using… | 66 | 1685 | active |
| gaoxiang12/lightning-lm Lightning-LM is a C++ library providing a complete 3D LiDAR SLAM system with fast LIO front-end, real-time loop closure detection, and high… | 48 | 1664 | active |