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 |
|---|---|---|---|
| Robbyant/lingbot-depth LingBot-Depth is a PyTorch-based model and toolkit for masked depth modeling that transforms incomplete, noisy depth sensor data into metri… | 53 | 1655 | active |
| hku-mars/FAST-LIVO FAST-LIVO is a fast, tightly-coupled sparse-direct LiDAR-Inertial-Visual Odometry system combining a LIO subsystem that registers raw point… | 47 | 1654 | stable |
| symforce-org/symforce SymForce is a Python/C++ library for fast symbolic computation, code generation, and tangent-space nonlinear optimization aimed at robotics… | 89 | 1646 | active |
| HKUST-Aerial-Robotics/VINS-Mono VINS-Mono is a real-time SLAM framework for monocular visual-inertial systems, using an optimization-based sliding window formulation for h… | 32 | 6058 | maintenance |
| nasa-jpl/rosa ROSA is a Python library and AI agent built on LangChain that lets developers interact with ROS1 and ROS2 robotics systems using natural la… | 56 | 1638 | active |
| Zhefan-Xu/NavRL NavRL is a reinforcement learning framework for safe robot and UAV navigation in dynamic environments, published at IEEE RA-L 2025. It incl… | 30 | 1632 | active |
| open-gigaai/giga-world-0 GigaWorld-0 is a unified world model framework that acts as a data engine for Vision-Language-Action (VLA) learning in embodied AI. It comb… | 38 | 1616 | active |
| pypose/pypose PyPose is a PyTorch-based Python library for differentiable robotics on manifolds, combining deep perceptual models with physics-based opti… | 90 | 1615 | active |
| AngelLM/Thor Thor is an open source, 3D-printable 6-degrees-of-freedom robotic arm designed to be affordable (under 350€) and accessible for education, … | 28 | 1611 | active |
| real-stanford/universal_manipulation_interface Universal Manipulation Interface (UMI) is a data collection and policy learning framework that transfers in-the-wild human demonstrations i… | 60 | 1594 | active |
| kevinzakka/mink mink is a Python library for differential inverse kinematics built on the MuJoCo physics engine. It solves task-space objectives as a quadr… | 85 | 1582 | active |
| unitreerobotics/unitree_ros ROS packages providing robot descriptions and Gazebo simulation for Unitree robots (quadrupeds like Go1/Go2/A1 and humanoids like H1/G1). I… | 76 | 1578 | active |
| ARISE-Initiative/robomimic robomimic is a modular Python framework for robot learning from demonstration, providing standardized demonstration datasets and offline le… | 65 | 1572 | active |
| OKVIS Kalibr is a visual-inertial calibration toolbox for camera systems and inertial measurement units. It supports multi-camera, camera-IMU, IM… | 32 | 5759 | maintenance |
| koide3/direct_visual_lidar_calibration A C++ toolbox for target-less, single-shot extrinsic calibration between LiDAR sensors and cameras, supporting spinning and non-repetitive … | 70 | 1566 | stable |
| bitcraze/crazyflie-firmware The main open-source firmware for Bitcraze's Crazyflie Nano Quadcopter, Crazyflie Bolt, and Roadrunner Positioning Tag, written in C. It pr… | 92 | 1556 | active |
| unlir/XDrive XDrive is open-source firmware (with hardware schematics and enclosure designs) for a stepper motor driver featuring a multi-function inter… | 32 | 1550 | active |
| yuantianyuan01/FastWAM Official PyTorch codebase for Fast-WAM, a World Action Model for robot manipulation that skips test-time future video imagination and gener… | 56 | 1547 | active |
| wfb-ng WFB-NG is a long-range packet radio link that transmits video, MAVLink telemetry, and IP traffic over raw (unconnected) WiFi frames, bypass… | 82 | 1546 | active |
| baijiuyang/collision-avoidance2 A computational modeling framework for pedestrian moving-obstacle avoidance behavior, implementing Fajen-style steering and Cohen-style avo… | 69 | 1541 | active |
| Gazebo Gazebo Sim is an open source robotics simulator providing high-fidelity physics, rendering, and sensor models. It offers a graphical interf… | 69 | 1540 | active |
| introlab/rtabmap_ros RTAB-Map's ROS package providing real-time appearance-based SLAM (RGB-D, stereo, and LiDAR graph SLAM) as ROS 1 and ROS 2 nodes. It integra… | 88 | 1533 | active |
| SERL HIL-SERL is a Python library suite for training reinforcement learning policies for precise robotic manipulation using human demonstrations… | 41 | 1533 | active |
| allenzren/open-pi-zero An open-source re-implementation of the pi0 vision-language-action (VLA) model from Physical Intelligence, built on a pre-trained PaliGemma… | 24 | 1533 | active |
| ros2-rust/ros2_rust Rust bindings for ROS 2, providing the rclrs client library, code generator, and examples for writing ROS 2 robotics applications in Rust. … | 93 | 1530 | active |
| leggedrobotics/ocs2 OCS2 is a C++ toolbox for formulating and solving nonlinear optimal control problems, with an emphasis on real-time Model Predictive Contro… | 66 | 1529 | active |
| FAST-LIO LI-Init is a robust, real-time initialization method for LiDAR-inertial systems that calibrates temporal offset, extrinsic parameters, grav… | 55 | 1527 | active |
| copper-project/copper-rs Copper is a Rust runtime and SDK for building, running, recording, and deterministically replaying static robot task graphs, from Linux dow… | 100 | 1522 | active |
| Reachy Mini Reachy Mini's official Python SDK for controlling Pollen Robotics' open-source expressive desktop robot, supporting the Wireless (Raspberry… | 84 | 1520 | active |
| dRoninFlight/dRonin dRonin is open-source autopilot/flight controller firmware for OpenPilot/Tau Labs family boards, supporting multirotors, planes, and helico… | 44 | 1506 | active |
| ToanTech/Deng-s-foc-controller An open-source dual-channel brushless motor FOC (field-oriented control) driver board based on ESP32, with full hardware design files (BOM,… | 32 | 1505 | active |
| mherb/kalman A header-only C++11 library implementing Kalman filter variants (EKF, SR-EKF, UKF, SR-UKF) built on the Eigen3 linear algebra library. User… | 32 | 1501 | stable |
| Vincentqyw/cv-arxiv-daily An automated daily digest of computer vision and robotics arXiv papers (SLAM, SFM, visual localization, keypoint detection, image matching,… | 76 | 1500 | active |
| HKUST-Aerial-Robotics/FUEL FUEL is a C++/ROS framework for fast autonomous UAV exploration, built around an incremental Frontier Information Structure and hierarchica… | 32 | 1496 | stable |
| acados/acados acados is a modular C library providing fast embedded solvers for nonlinear optimal control problems, designed for real-time applications l… | 91 | 1493 | active |
| Aceinna/gnss-ins-sim A Python library for simulating GNSS/INS integrated navigation systems. It generates reference trajectories and synthetic IMU, GPS, odomete… | 23 | 1493 | active |
| damiafuentes/DJITelloPy A Python library wrapping the official DJI Tello and Tello EDU SDKs, implementing all Tello commands including video streaming, state packe… | 23 | 1482 | active |
| fan-ziqi/rl_sar A C++ framework for simulation verification and physical deployment of reinforcement learning policies for robots, supporting quadruped, wh… | 74 | 1481 | active |
| robotmcp/ros-mcp-server A Model Context Protocol (MCP) server that connects LLMs like Claude, GPT, and Gemini to robots via ROS and ROS 2, using rosbridge for bidi… | 85 | 1476 | active |
| NVIDIA-ISAAC-ROS/isaac_ros_visual_slam Isaac ROS Visual SLAM is a ROS 2 package providing GPU-accelerated visual simultaneous localization and mapping (VSLAM) using stereo visual… | 93 | 1473 | active |
| atb033/multi_agent_path_planning A Python collection of multi-agent/multi-robot path-planning algorithm implementations, including centralized planners (Prioritized Safe-In… | 23 | 1469 | active |
| LocoMuJoCo LocoMuJoCo is an imitation learning benchmark for whole-body locomotion control built on MuJoCo, featuring humanoid, quadruped, and musculo… | 70 | 1468 | active |
| dRehmFlight dRehmFlight is an Arduino-compatible flight controller and stabilization codebase for small-scale VTOL aircraft, built on the Teensy 4.0 mi… | 32 | 1456 | active |
| YanjieZe/3D-Diffusion-Policy 3D Diffusion Policy (DP3) is a visual imitation learning algorithm that combines compact 3D point cloud representations with diffusion poli… | 43 | 1453 | active |
| ZhaJiHu/Cubli_Mini An open-source hardware and firmware project that recreates ETH Zurich's Cubli as a low-cost, 10x10x10 cm self-balancing cube that balances… | 32 | 1426 | active |
| ros-industrial/universal_robot A ROS-Industrial meta-package providing support for Universal Robots manipulators, including URDF descriptions, meshes, drivers, and MoveIt… | 70 | 1417 | active |
| NVlabs/BundleSDF BundleSDF is a CVPR 2023 research implementation from NVIDIA for near real-time 6-DoF pose tracking of unknown rigid objects from monocular… | 62 | 1417 | stable |
| Astrobee Robot Software NASA's open-source flight software for the Astrobee free-flying robots operating aboard the International Space Station, written primarily … | 44 | 1415 | active |
| AgibotTech/genie_sim Genie Sim is AgiBot's open-source simulation platform for embodied intelligence, providing environment reconstruction, LLM-driven scene gen… | 70 | 1412 | active |
| AimRT/AimRT AimRT is a high-performance runtime framework for modern robotics built on modern C++20, covering robot end-side, edge, and cloud deploymen… | 78 | 1411 | active |
| Smoothie Smoothieware is a modular, open-source G-code interpreter and CNC controller firmware written in object-oriented C++ for 32-bit controller … | 72 | 1408 | active |
| open-gigaai/giga-world-policy GigaWorld-Policy is a World Action Model (WAM) for robot policy learning that jointly models actions and future visual observations during … | 53 | 1406 | active |
| m5stack/StackChan StackChan is an open-source kawaii AI desktop robot co-created by M5Stack and its community, built around the CoreS3 (ESP32-S3) IoT develop… | 61 | 1401 | active |
| Denys88/rl_games RL Games is a high-performance reinforcement learning library built on PyTorch, focused on training agents in massively parallel GPU-based … | 75 | 1397 | active |
| unitreerobotics/unitree_sdk2 Unitree Robot SDK version 2, a C++ library for controlling and communicating with Unitree robots. It provides CMake-based builds and exampl… | 73 | 1387 | active |
| pantor/ruckig Ruckig is a C++ (with Python bindings) motion generation library that calculates jerk-constrained, time-optimal trajectories on-the-fly for… | 82 | 1380 | active |
| unitreerobotics/unitree_rl_lab A collection of reinforcement learning environments for Unitree robots (Go2, H1, G1) built on NVIDIA IsaacLab. It enables training locomoti… | 53 | 1378 | active |
| erwincoumans/tiny-differentiable-simulator Tiny Differentiable Simulator (TDS) is a header-only C++ and CUDA physics library for rigid-body dynamics with zero dependencies, supportin… | 67 | 1376 | active |
| Goal-Driven Autonomous Exploration (DRL Robot Navigation) A ROS Gazebo simulation project that trains a mobile robot to navigate to random goals while avoiding obstacles using a TD3 deep reinforcem… | 54 | 1374 | active |
| PKU-VCL-3DV/SLAM3R SLAM3R is a real-time dense 3D scene reconstruction system that regresses 3D points from monocular RGB video using feed-forward neural netw… | 39 | 1366 | active |
| FIRST Tech Challenge SDK The official FIRST Tech Challenge (FTC) SDK for building the Android app that controls a competition robot. It provides the robot controlle… | 91 | 1365 | active |
| hku-mars/Point-LIO Point-LIO is a robust high-bandwidth LiDAR-inertial odometry framework that estimates ego-motion and builds maps by fusing LiDAR point clou… | 68 | 1356 | active |
| Eclipse Cyclone DDS Eclipse Cyclone DDS is a performant, robust open-source C implementation of the OMG DDS (Data Distribution Service) publish-subscribe middl… | 87 | 1353 | stable |
| rst-tu-dortmund/teb_local_planner A ROS package implementing a local trajectory planner plugin for the 2D navigation stack based on Timed Elastic Bands. It locally optimizes… | 66 | 1351 | stable |
| HKUST-Aerial-Robotics/VINS-Fusion VINS-Fusion is an optimization-based multi-sensor state estimator for accurate self-localization in autonomous applications such as drones,… | 32 | 4748 | maintenance |
| loco-3d/crocoddyl Crocoddyl is an open-source optimal control library for robot control under contact sequences, computing optimal trajectories and feedback … | 87 | 1321 | active |
| General Navigation Models Official code and pre-trained checkpoints for the GNM, ViNT, and NoMaD family of general-purpose goal-conditioned visual navigation policie… | 20 | 1315 | active |
| hku-mars/livox_camera_calib A C++/ROS tool from HKU MARS for automatic extrinsic calibration between high-resolution LiDAR (e.g., Livox) and cameras in targetless envi… | 32 | 1313 | stable |
| OpenTeleVision/TeleVision Open-TeleVision is an open-source immersive robot teleoperation system that streams stereoscopic visual feedback to VR headsets (Apple Visi… | 25 | 1313 | active |
| wpilibsuite/allwpilib WPILib is the official software library suite for programming robots in the FIRST Robotics Competition (FRC) and FIRST Tech Challenge (FTC)… | 81 | 1312 | stable |
| nvidia-isaac/nvblox nvblox is a GPU-accelerated C++/Python library for real-time 3D reconstruction using TSDF and ESDF volumetric mapping, designed for robots … | 79 | 1307 | active |
| ZJU-FAST-Lab/GCOPTER GCOPTER is a general-purpose trajectory optimizer for multicopters built on the sparse MINCO trajectory representation. It supports user-de… | 32 | 1306 | active |
| InternRobotics/InternUtopia InternUtopia (formerly GRUtopia) is a Python simulation platform built on NVIDIA Isaac Sim for embodied AI research, supporting diverse rob… | 36 | 1301 | active |
| mjbots/moteus moteus is an open-source brushless DC servo motor controller project containing firmware, PCB hardware designs, and client-side libraries f… | 95 | 1299 | active |
| thu-ml/Motus Motus is the official implementation of a unified latent action world model for robotics, combining a video generation model, a vision-lang… | 40 | 1297 | active |
| X-Square-Robot/wall-x Wall-X is the open-source training and inference stack for X Square Robot's WALL series of embodied foundation models (VLAs) for general-pu… | 61 | 1283 | active |
| SOFA Framework SOFA is an open-source C++ framework for interactive, real-time multi-physics simulation based on the Finite Element Method, with an emphas… | 84 | 1278 | active |
| Dex Retargeting A Python library of retargeting optimizers that translate human hand motion (from video or pose datasets) into robot dexterous hand joint c… | 33 | 1274 | active |
| ethz-asl/rovio ROVIO (Robust Visual Inertial Odometry) is a C++ framework from ETH Zurich that estimates camera and IMU trajectory using an iterated exten… | 74 | 1270 | active |
| ToniRV/NeRF-SLAM NeRF-SLAM is a real-time dense monocular SLAM system that combines neural radiance fields (Instant-NGP) with probabilistic volumetric fusio… | 32 | 1266 | active |
| menloresearch/asimov-1 Asimov 1 is an open-source 1.2 m, 35 kg humanoid robot with 25 actuated degrees of freedom, released under CERN-OHL-S for hardware and GPL-… | 59 | 1252 | active |
| Stella VSLAM stella_vslam is a community-maintained fork of OpenVSLAM implementing a monocular, stereo, and RGBD visual SLAM system in C++. It supports … | 73 | 1250 | active |
| facebookresearch/home-robot HomeRobot is an open-source robotics stack from Meta AI for mobile manipulation tasks on low-cost hardware like the Hello Robot Stretch. It… | 23 | 1247 | active |
| RobotWebTools/rosbridge_suite rosbridge_suite is a set of ROS packages implementing the rosbridge v2 protocol, which exposes ROS topics, services, and parameters through… | 73 | 1246 | active |
| NVlabs/alpasim AlpaSim is an open-source, Python-based autonomous vehicle simulation platform for developing and testing end-to-end AV policies in closed … | 72 | 1245 | active |
| MyoHub/myosuite MyoSuite is a collection of musculoskeletal environments and tasks simulated with the MuJoCo physics engine and wrapped in the OpenAI gym A… | 85 | 1238 | active |
| ZED SDK The ZED SDK is a cross-platform spatial perception library for Stereolabs ZED stereo cameras, providing depth sensing, SLAM, 3D reconstruct… | 84 | 1236 | active |
| unitreerobotics/unitree_mujoco A MuJoCo-based simulator for Unitree robots (Go2, B2, H1, G1, etc.) that integrates with Unitree SDK2 control programs in both C++ and Pyth… | 74 | 1229 | active |
| mavlink/mavros MAVROS is a MAVLink-to-ROS 2 gateway that exposes flight controller data (PX4, ArduPilot) as standard ROS 2 topics, services, and parameter… | 95 | 1224 | active |
| rohanpsingh/LearningHumanoidWalking A Python research codebase for training humanoid robots to walk using deep reinforcement learning (PPO) in MuJoCo simulation. It provides e… | 66 | 1224 | active |
| chengyangkj/Ros_Qt5_Gui_App A cross-platform lightweight Qt5-based human-computer interface for ROS1/ROS2 mobile robots, with a unified codebase that auto-detects the … | 79 | 1222 | active |
| simondlevy/TinyEKF TinyEKF is a lightweight, header-only C/C++ implementation of the Extended Kalman Filter designed for microcontrollers like Arduino and STM… | 63 | 1220 | stable |
| dartsim/dart DART (Dynamic Animation and Robotics Toolkit) is an open-source, research-focused C++ physics engine for robotics, animation, and machine l… | 100 | 1217 | active |
| PoseLib/PoseLib PoseLib is a C++ library of minimal solvers for calibrated camera pose estimation, covering absolute and relative pose from point and line … | 66 | 1217 | active |
| i2Nav-WHU/KF-GINS KF-GINS is an open-source C++ implementation of an EKF-based GNSS/INS loosely-coupled integrated navigation system, developed by Wuhan Univ… | 67 | 1215 | active |
| lcm-proj/lcm LCM (Lightweight Communications and Marshalling) is a set of libraries and tools for low-latency, high-bandwidth publish/subscribe message … | 86 | 1211 | stable |
| NawfalMotii79/PLFM_RADAR AERIS-10 is an open-source, low-cost 10.5 GHz pulse linear frequency modulated (PLFM) phased array radar system with full schematics, PCB l… | 64 | 25349 | experimental |
| roboticslibrary/rl A self-contained C++ library for rigid body kinematics and dynamics, motion planning, collision detection, and robot control. It includes h… | 26 | 1206 | stable |
| Cylon.js Cylon.js is a JavaScript/Node.js framework for robotics, physical computing, drones, and IoT. It offers a unified robot definition API with… | 32 | 4209 | maintenance |
| BoofCV BoofCV is an open-source, real-time computer vision library written entirely in Java, covering image processing, camera calibration, featur… | 84 | 1203 | active |