Simulation platform for general-purpose robotics & embodied AI learning.
Repository Index
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Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
Behavior Trees Library in C++. Batteries included.
pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras. It provides a broad set of modern local and global feature extractors, multiple loop-closure strategies, a volumetric reconstruction module, integrated depth-prediction models, and semantic segmentation capabilities for enhanced scene understanding.
- 3d-reconstruction
- depth-prediction
- feature-matching
- global-features
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
- loam
- iros
- ieee
- lidar
An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control
- pybullet
- crazyflie
- robotics
- reinforcement-learning
An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
- ros
- mobile-robots
- navigation
- trajectory-optimization
SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)
- rangenet-lib
- suma
- lidar
- slam
Gibson Environments: Real-World Perception for Embodied Agents
- computer-vision
- robotics
- simulator
- sim2real
Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library
- agriculture
- autonomous-vehicles
- coverage-path-planning
- cpp17
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.
- articulated-body-algorithm
- inverse-dynamics
- forward-dynamics
- multi-body-dynamics
This repository contains multiple approaches for generating global racetrajectories.
YARP - Yet Another Robot Platform
- middleware
- yarp
- robotics-libraries
- robotics
visualize URDF/XACRO file, URDF Viewer works on Windows/MacOS/Linux
This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds
- fiducial-markers
- lidar
- point-clouds
- cassie
Embodied In-Context Learning for GPT-6 Astra
RAFCON (RMC advanced flow control) uses hierarchical state machines, featuring concurrent state execution, to represent robot programs. It ships with a graphical user interface supporting the creation of state machines and contains IDE like debugging mechanisms. Alternatively, state machines can programmatically be generated using RAFCON's API.
- robotics
- graphical-programming
- state-machine
Cross-platform clone of the FRC Driver Station
- frc
- robotics
- networking
- control-systems
The software for your friendly painting robot kit!
Official code for "Reinforcement Fine-Tuning of Flow-Matching Policies for Vision-Language-Action Models" (ICRA 2026): Flow Policy Optimization for pi0
- aloha
- flow-matching
- icra2026
- jax
Generate random crop fields for Ignition Gazebo
Various utilities for the Makeblock XY Plotter Robot Kit
Robomaster S1 - Micropython CAN BUS controller