Open-source robotics software
246 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.
246 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 |
| 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 |
| Marlin Firmware Marlin is open-source (GPL-3.0) firmware for RepRap 3D printers, CNC machines, and laser engravers, running on 8-bit AVR and 32-bit ARM mic… | 100 | 17625 | active |
| ArduPilot ArduPilot is an open-source autopilot firmware suite (ArduPlane, ArduCopter, ArduRover, ArduSub) written in C++ that controls unmanned vehi… | 100 | 16081 | stable |
| 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 |
| 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 |
| Klipper3d/klipper Klipper is open-source firmware for 3D printers that combines a general-purpose computer (like a Raspberry Pi) with one or more micro-contr… | 77 | 11977 | stable |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| INAV INAV is open-source navigation-enabled flight controller firmware for drones, planes, and other RC aircraft. It provides autopilot features… | 86 | 4268 | 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 |
| 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 |
| LumenPnP The LumenPnP is an open source pick and place machine that assembles electronic components onto circuit boards. The repository contains the… | 75 | 3652 | 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| SERL HIL-SERL is a Python library suite for training reinforcement learning policies for precise robotic manipulation using human demonstrations… | 41 | 1533 | 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
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