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 |
|---|---|---|---|
| koide3/hdl_localization A ROS package for real-time 3D localization using 3D LIDARs such as Velodyne HDL32e and VLP16. It performs UKF-based pose estimation with I… | 32 | 1026 | maintenance |
| PRBonn/semantic_suma SuMa++ is a C++ implementation of efficient LiDAR-based semantic SLAM that builds 3D semantic maps from laser range scans, combining the Su… | 32 | 1019 | maintenance |
| RyanZotti/Self-Driving-Car A hobby project that turns a toy Ferrari into a self-driving car using a Raspberry Pi, a PS3 controller for data collection, and a locally-… | 32 | 1017 | maintenance |
| zju3dv/OnePose OnePose is the official PyTorch implementation of the CVPR 2022 paper 'One-Shot Object Pose Estimation without CAD Models'. It estimates th… | 32 | 1011 | maintenance |
| mbrossar/ai-imu-dr Python/PyTorch implementation of the AI-IMU dead reckoning algorithm from the authors' IEEE/ArXiv paper, combining an invariant Kalman filt… | 32 | 1006 | maintenance |
| PhyAgentOS/PhyAgentOS-core PhyAgentOS is a self-evolving embodied AI operating system built on agentic workflows, providing a session-centered runtime that decouples … | 68 | 2511 | experimental |
| PiLiDAR PiLiDAR is a DIY 360° 3D panorama scanner built on Raspberry Pi that combines a low-cost LDRobot LiDAR (LD06/LD19/STL27L) with a Pi HQ came… | 56 | 1977 | experimental |
| Genesis-Embodied-AI/RoboGen RoboGen is a self-guided generative robotic agent that autonomously proposes new tasks, generates simulation environments, and learns robot… | 28 | 1228 | experimental |
| geohot/twitchslam A toy monocular SLAM (Simultaneous Localization and Mapping) implementation written in Python during livestreams. It extracts features from… | 32 | 1003 | experimental |
| grbl/grbl Grbl is an open-source, embedded, high-performance g-code parser and CNC milling controller written in optimized C for AVR microcontrollers… | 32 | 6295 | abandoned |
| Grbl Grbl is an open-source, high-performance g-code parser and CNC milling controller firmware written in optimized C for AVR-based Arduino boa… | 23 | 4566 | abandoned |
| ros/ros ROS (Robot Operating System) is a meta-operating system providing language-independent, network-transparent communication for distributed r… | 10 | 3253 | abandoned |
| openai/mujoco-py mujoco-py provides Cython-based Python 3 bindings for the MuJoCo physics engine, enabling rigid body simulation with contacts from Python. … | 10 | 3145 | abandoned |
| xdspacelab/openvslam OpenVSLAM is a versatile visual SLAM (Simultaneous Localization and Mapping) framework supporting monocular, stereo, and RGBD cameras, incl… | 10 | 2976 | abandoned |
| Stanford Doggo Stanford Doggo is an open source, ~5kg quadruped robot capable of jumping, flipping, and trotting, designed as an accessible platform for l… | 23 | 2557 | abandoned |
| opencog/opencog OpenCog is a framework for integrated artificial intelligence and artificial general intelligence (AGI) research, combining natural languag… | 36 | 2478 | abandoned |
| lgsvl/simulator SVL Simulator is a Unity-based multi-robot simulator for autonomous vehicles with ROS/ROS2 integration, sensor simulation, and Python APIs.… | 23 | 2459 | abandoned |
| openai/roboschool Roboschool is an open-source robot simulation library providing physics-based Gym environments for reinforcement learning research, includi… | 10 | 2170 | abandoned |
| samyk/skyjack SkyJack is a drone hacking tool that autonomously seeks out, disconnects the owner of, and takes wireless control of nearby Parrot AR.Drone… | 32 | 1835 | abandoned |
| qiayuanl/legged_control legged_control is a C++ control framework for legged robots combining nonlinear model predictive control (NMPC), whole-body control (WBC), … | 32 | 1809 | abandoned |
| stanfordroboticsclub/StanfordQuadruped Stanford Quadruped hosts the Python control software for Stanford Pupper and Woofer, Raspberry Pi-based open-source quadruped robots that c… | 32 | 1808 | abandoned |
| haarnoja/sac The original reference implementation of Soft Actor-Critic (SAC), a deep reinforcement learning algorithm for training maximum entropy poli… | 32 | 1308 | abandoned |
| xioTechnologies/Gait-Tracking-With-x-IMU MATLAB source code for a foot-mounted IMU gait tracking algorithm that estimates position via dead reckoning, with drift corrected at each … | 32 | 1075 | abandoned |
| NVIDIA-AI-IOT/redtail NVIDIA Redtail provides deep learning and computer vision components for autonomous visual navigation of drones and ground vehicles, center… | 23 | 1048 | abandoned |
| Robbyant/lingbot-map LingBot-Map is a feed-forward 3D foundation model that reconstructs scenes from streaming image data using a Geometric Context Transformer.… | 57 | 17135 | active |
| zauberzeug/nicegui NiceGUI is a Python-based UI framework for creating web browser-based graphical user interfaces with simple Python code. It provides standa… | 93 | 16268 | stable |
| facebookresearch/vggt VGGT (Visual Geometry Grounded Transformer) is a feed-forward transformer model from Meta AI and Oxford VGG that infers 3D geometry—camera … | 55 | 14499 | active |
| Open3D Open3D is an open-source C++ and Python library for 3D data processing, offering data structures, algorithms, and pipelines for point cloud… | 86 | 14097 | active |
| NVIDIA/cosmos NVIDIA Cosmos is an open platform of omnimodal world foundation models, datasets, and tools for building Physical AI systems such as robots… | 69 | 11892 | active |
| Kornia Kornia is a differentiable computer vision library built on PyTorch, offering GPU-accelerated image processing, augmentations, and geometri… | 84 | 11436 | active |
| jetson-inference A C++/Python DNN inference library and tutorial guide ('Hello AI World') for deploying deep learning vision models on NVIDIA Jetson devices… | 40 | 9015 | stable |
| geekyutao/Inpaint-Anything Inpaint Anything combines Segment Anything (SAM) with inpainting models like LaMa and Stable Diffusion to remove, fill, or replace objects … | 62 | 7725 | active |
| naver/dust3r DUSt3R is the official PyTorch implementation of a CVPR 2024 model that performs dense, unconstrained stereo and multi-view 3D reconstructi… | 42 | 7317 | active |
| vLLM vLLM-Omni is a Python framework extending vLLM for efficient inference and serving of omni-modality models, including diffusion transformer… | 84 | 7280 | active |
| AidLux (AidLearning) AidLux (originally AidLearning) is an AIoT development platform that runs a native Ubuntu Linux environment with GUI, deep learning tooling… | 63 | 5812 | active |
| DeepLabCut DeepLabCut is an open-source Python toolbox for markerless 2D and 3D pose estimation of user-defined body parts using deep neural networks … | 94 | 5784 | stable |
| isl-org/MiDaS MiDaS is a Python library with pretrained models for robust monocular depth estimation from a single image, based on the TPAMI 2022 paper a… | 10 | 5419 | stable |
| manycore-research/SpatialLM SpatialLM is a 3D large language model that processes point cloud data (from monocular video, RGBD images, or LiDAR) and generates structur… | 59 | 5094 | active |
| facebookresearch/vjepa2 Official PyTorch codebase and pretrained models for V-JEPA 2, a self-supervised video encoder trained on internet-scale video, plus V-JEPA … | 49 | 4758 | active |
| mikedh/trimesh Trimesh is a pure Python library for loading, manipulating, and analyzing triangular meshes with an emphasis on watertight surfaces. It pro… | 95 | 3681 | stable |
| nv-tlabs/kimodo Kimodo is NVIDIA's official implementation of a kinematic motion diffusion model trained on 700 hours of motion capture data to generate hi… | 58 | 3615 | active |
| huangjunsen0406/py-xiaozhi py-xiaozhi is an open-source, cross-platform multimodal AI voice assistant client written in Python, compatible with the xiaozhi-esp32 ecos… | 84 | 3513 | active |
| mit-han-lab/bevfusion BEVFusion is a PyTorch-based multi-task multi-sensor fusion framework that unifies camera and LiDAR features in a shared bird's-eye view re… | 10 | 3231 | stable |
| zju3dv/LoFTR LoFTR is a detector-free local image feature matching method using Transformers, released with PyTorch inference and training code plus pre… | 32 | 2963 | stable |
| openmv/openmv OpenMV is an open-source machine vision platform consisting of camera hardware firmware programmable in Python 3 (MicroPython). The firmwar… | 93 | 2871 | active |
| galilai-group/stable-worldmodel A Python library providing a unified platform for reproducible world model research, covering data collection, training, and evaluation via… | 78 | 2260 | active |
| microsoft/Magma Magma is Microsoft Research's foundation model for multimodal AI agents, released as an 8B vision-language model that understands images an… | 50 | 1942 | active |
| AutoArk/EVA-OS EVA OS / EVA Platform is a real-time multimodal AI operating system and development platform for next-generation smart hardware, combining … | 63 | 1929 | active |
| NVIDIA-AI-IOT/Lidar_AI_Solution NVIDIA's collection of GPU-accelerated Lidar AI inference solutions for autonomous driving, including optimized implementations of PointPil… | 69 | 1885 | active |
| probcomp/Gen.jl Gen.jl is a general-purpose probabilistic programming system embedded in Julia that lets users write generative models as probabilistic pro… | 58 | 1851 | active |
| paperswithcode/ai-deadlines A web application that displays countdown timers to submission deadlines for top-tier AI, machine learning, computer vision, NLP, and robot… | 32 | 6007 | maintenance |
| Firmata Firmata is a serial communication protocol for controlling microcontrollers from software on a host computer, and this repository is the Fi… | 23 | 1621 | stable |
| sail-sg/envpool EnvPool is a C++-based batched environment pool with pybind11 bindings and a thread pool for high-performance parallel RL environment execu… | 96 | 1522 | active |
| NVlabs/Fast-FoundationStereo Fast-FoundationStereo is NVIDIA's official PyTorch implementation of a real-time zero-shot stereo matching model family, accepted to CVPR 2… | 59 | 1496 | active |
| hustvl/VAD VAD is an end-to-end autonomous driving framework that models the driving scene as a fully vectorized representation of agents and map elem… | 57 | 1383 | active |
| autonomousvision/unimatch UniMatch is a PyTorch research library implementing a unified transformer-based model for optical flow, stereo matching, and depth estimati… | 32 | 1383 | stable |
| buoyancy99/diffusion-forcing Official research code for the NeurIPS paper 'Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion', implementing a metho… | 62 | 1299 | active |
| ZhengyiLuo/PHC Official implementation of the ICCV 2023 paper 'Perpetual Humanoid Control for Real-time Simulated Avatars'. It provides a Python codebase … | 41 | 1296 | active |
| lpiccinelli-eth/UniDepth UniDepth is a Python library and research codebase for universal monocular metric depth estimation from single images, based on CVPR 2024 a… | 32 | 1274 | active |
| ziyc/drivestudio DriveStudio is a Python framework for 3D Gaussian Splatting (3DGS) based reconstruction and simulation of dynamic urban driving scenes. It … | 37 | 1267 | active |
| metadriverse/metadrive MetaDrive is an open-source, lightweight driving simulator built for AI and autonomy research, supporting compositional scene synthesis and… | 68 | 1259 | active |
| FarmBot OS FarmBot OS (FBOS) is the operating system and related software that runs on FarmBot's Raspberry Pi, built with Elixir and the Nerves framew… | 84 | 1173 | active |
| ikostrikov/pytorch-a2c-ppo-acktr-gail A PyTorch implementation of several deep reinforcement learning algorithms: A2C, PPO, ACKTR, and GAIL (imitation learning). It works with O… | 32 | 3907 | maintenance |
| OpenSim OpenSim Core is a C++ library and set of command-line applications for building musculoskeletal models and running dynamic simulations of m… | 82 | 1119 | stable |
| danijar/dreamerv2 A TensorFlow 2 implementation of the DreamerV2 model-based reinforcement learning agent that learns world models from high-dimensional imag… | 32 | 1062 | stable |
| open-gigaai/giga-models GigaModels is an open-source Python framework providing pipelines for training, inference, deployment, and compression of multi-modal, gene… | 59 | 1060 | active |
| zju3dv/EfficientLoFTR Efficient LoFTR is a PyTorch implementation of a semi-dense local feature matching model that matches keypoints between image pairs with sp… | 69 | 1050 | active |
| alex-petrenko/sample-factory Sample Factory is a high-throughput Python reinforcement learning library implementing synchronous and asynchronous policy gradient algorit… | 66 | 1026 | active |
| tianweiy/CenterPoint Official PyTorch implementation of CenterPoint, a CVPR 2021 method that performs 3D object detection and tracking from LiDAR point clouds b… | 23 | 2195 | maintenance |
| tinghuiz/SfMLearner SfMLearner is a TensorFlow implementation of the CVPR 2017 paper 'Unsupervised Learning of Depth and Ego-Motion from Video'. It trains mode… | 32 | 2016 | maintenance |
| yangyanli/PointCNN PointCNN is a deep learning framework for feature learning from 3D point clouds, applying convolution on X-transformed points to handle the… | 51 | 1434 | maintenance |
| TSDF Fusion A lightweight Python script that fuses multiple registered RGB-D images into a projective TSDF voxel volume, from which high-quality 3D sur… | 32 | 1432 | maintenance |
| nvidia-cosmos/cosmos-predict2.5 NVIDIA Cosmos-Predict2.5 is a family of world foundation models (WFMs) that generate video predictions of future world states for physical … | 67 | 1372 | maintenance |
| Khrylx/PyTorch-RL A PyTorch library implementing deep reinforcement learning policy gradient algorithms (TRPO, PPO, A2C) and Generative Adversarial Imitation… | 32 | 1286 | maintenance |
| andrewkirillov/AForge.NET AForge.NET is an open-source C# framework for computer vision and artificial intelligence, comprising libraries such as AForge.Imaging, AFo… | 32 | 1152 | maintenance |
| maudzung/SFA3D A PyTorch implementation of SFA3D, a fast and accurate anchor-free 3D object detection model for LiDAR point clouds, trained and evaluated … | 32 | 1129 | maintenance |
| irolaina/FCRN-DepthPrediction Reference implementation and pretrained models for FCRN (Deeper Depth Prediction with Fully Convolutional Residual Networks), predicting de… | 32 | 1119 | maintenance |
| CSCB/vibe-mouse An open-source Python desktop application that redefines mouse interaction by letting users bind customizable 'Skills' to buttons, with mul… | 52 | 1179 | experimental |
| xbpeng/DeepMimic DeepMimic is a C++ simulation framework with a Python (SWIG/TensorFlow) wrapper that trains simulated humanoid characters to imitate motion… | 53 | 3110 | abandoned |
| Dustcloud A research project for reverse engineering and rooting Xiaomi Smart Home devices, including robot vacuums, providing methods to root device… | 23 | 2283 | abandoned |
| wzpan/dingdang-robot Dingdang is an open-source Chinese voice conversation robot / smart speaker project that runs on Raspberry Pi. It uses pluggable STT/TTS en… | 10 | 1872 | abandoned |
| 叮当 (Dingdang) Dingdang is an open-source Chinese voice conversation robot / smart speaker project that runs on Raspberry Pi and other Linux hosts. It use… | 10 | 1330 | abandoned |
| PRBonn/lidar-bonnetal A deep learning framework for training and deploying semantic segmentation of LiDAR point clouds using range-image representations, develop… | 10 | 1037 | abandoned |
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