Software
Software to develop and run robots.
- Ceres SolverOpen source
Large-scale nonlinear optimization library from Google.
- Diffusion PolicyOpen source
Visuomotor policy learning via action diffusion.
- Awesome LLM Robotics
Papers and code on using LLMs and VLMs in robotics.
- INAVOpen source
Navigation-enabled flight controller firmware for planes and copters.
- BehaviorTree.CPPOpen source
Behavior trees for robotics, used by Nav2 and MoveIt.
- DrakeOpen source
Model-based design and verification for robotics from MIT and Toyota Research.
- Apache NuttXOpen source
The POSIX-style RTOS underneath PX4 flight controllers.
- RTAB-MapOpen source
Real-Time Appearance-Based Mapping for RGB-D, stereo and LIDAR SLAM.
- dora-rsOpen source
A low-latency, dataflow-oriented robotics framework in Rust.
- PinocchioOpen source
Fast rigid-body dynamics algorithms and their analytical derivatives.
- GTSAMOpen source
Factor graphs for SLAM and sensor fusion.
- FoundationPose
Unified 6D pose estimation and tracking of novel objects.
- Robotics Toolbox for PythonOpen source
Peter Corke's toolbox for kinematics, dynamics and trajectories.
- MIT Mini CheetahOpen source
Locomotion controller software for the MIT Cheetah robots.
- ROS 1Open source
The original Robot Operating System, still powering thousands of robots.
- ZenohOpen source
Zero-overhead pub/sub, store/query and compute, now a ROS 2 middleware.
- OpenVINSOpen source
Filter-based visual-inertial estimator for research and robots.
- RSL RLOpen source
Fast and simple PPO implementation for legged robot learning.
- viserOpen source
Web-based 3D visualization and GUI for Python.
- EGO-PlannerOpen source
Gradient-based local planner for quadrotors without ESDF.
- SLAM ToolboxOpen source
The default 2D LIDAR SLAM for ROS 2 and Nav2.
- FluidNC
ESP32 motion controller firmware for gantries and small machines.
- AprilTagOpen source
Visual fiducial system for robust pose estimation.
- LinuxCNCOpen source
Real-time motion control for machine tools and robots.
- Roboflow InferenceOpen source
Deploy vision models (YOLO, SAM, CLIP) on edge devices for robots.
- MAVLinkOpen source
Lightweight messaging protocol for drones and ground stations.
- KISS-ICPOpen source
Simple, accurate LiDAR odometry that just works.
- CasADiOpen source
Symbolic framework for nonlinear optimization and optimal control.
- ACTOpen source
Learning fine-grained bimanual manipulation with low-cost hardware.
- OMPLOpen source
The Open Motion Planning Library of sampling-based planners.
