Projects sharing features with Newton

Genesis World is an embodied AI simulation platform designed for training robotic agents through physics-based interactions. It centers on a multi-physics simulation engine that integrates rigid body, particle, and finite element method dynamics, supported by a parallel simulation kernel compiler that translates Python functions into optimized GPU and CPU kernels. The platform features a photorealistic robot renderer that utilizes path-tracing and Gaussian Splatting to generate synthetic training data. It includes a domain randomization framework to vary lighting and physical parameters acros

CARLA is an autonomous driving simulator and research environment designed for developing and validating self-driving software. It functions as an urban traffic simulator that generates realistic vehicle and pedestrian behavior and as a synthetic sensor data generator producing LiDAR, Radar, and camera data. The platform distinguishes itself through its deep integration with robotics frameworks, specifically providing native connectivity to ROS2 nodes for robotic control and data processing. It supports the training of driving models via imitation and reinforcement learning within a controlle

Drake is a robotics simulation framework and control system modeling tool used for designing, simulating, and verifying the dynamics of complex robotic systems. It functions as a multibody dynamics simulator and a mathematical optimization library, providing a suite of algorithms for trajectory optimization and the simulation of articulated robots. The framework is distinguished by its block-diagram system for composing dynamical subsystems and its ability to formulate and solve diverse mathematical programs, including linear, quadratic, and nonconvex nonlinear problems. It supports specializ

This repository is a comprehensive collection of functional 2D and 3D demo projects and implementation samples for the Godot Game Engine. It serves as an interactive tutorial and reference library, providing a working codebase to demonstrate how to apply engine features in real-world scenarios. The collection focuses on practical implementation guides, covering a wide array of technical capabilities from basic engine fundamentals to advanced rendering and scripting techniques. It allows users to study the application of node-based composition, asset pipelines, and game logic through direct ex

IsaacGymEnvs is a GPU-accelerated physics sandbox and robotics policy training suite designed for reinforcement learning. It serves as a vectorized robotic simulator that runs thousands of parallel environments on GPUs to accelerate the training of neural networks. The project provides a sim-to-real transfer framework that utilizes domain randomization and physics variations to ensure policies trained in simulation are robust enough for deployment on real hardware. It distinguishes itself through a high-performance architecture that uses tensor-based state management to handle observations an

ManiSkill is a GPU-accelerated robot simulation framework designed for training robotic manipulation skills, benchmarking learning algorithms, and generating synthetic datasets. It serves as a reinforcement learning environment where robot control policies can be developed and evaluated using parallelized physics and rendering on the GPU. The platform is distinguished by its ability to perform sim-to-real transfer, allowing policies trained in virtual environments to be deployed onto physical robotic hardware. It features ray-traced parallel rendering for producing high-frame-rate RGBD and se

Rapier is a cross-platform physics engine and rigid body dynamics solver designed for 2D and 3D simulations. It functions as a collision detection system and a robotics simulation framework, providing a consistent API for calculating physical interactions across different environments. The engine distinguishes itself with specialized robotics capabilities, including a toolkit for importing URDF and STL models to control multibody chains. It supports precise mechanical movement through inverse kinematics calculations and the application of PID controllers for dynamic body control. The simulat

Legged Gym is a high-performance simulation platform and toolkit engineered for training autonomous robotic agents in complex, physics-based environments. It provides a comprehensive framework for developing legged locomotion control policies, enabling robots to learn movement strategies for navigating uneven terrain and managing physical disturbances through reinforcement learning. The platform distinguishes itself by utilizing hardware-accelerated physics and headless execution to maximize computational throughput during training. It incorporates a domain randomization pipeline that injects

Evolve is an evolution-based organism designer and GPU-accelerated artificial life simulator that combines interactive particle physics with a real-time simulation editor. At its core, it runs genetic algorithm evolution on self-replicating graph structures to evolve digital organisms, offloading particle physics, neural networks, and rendering entirely to the GPU through a compute shader pipeline for real-time performance. The project distinguishes itself with graph-based organism design that uses a directed graph editor to visually define organism structure, connections, and neural controll

MathUtilities is a collection of specialized toolkits providing engines for geometry, computer vision, mathematics, physics simulation, and signal processing. It functions as a comprehensive mathematics and physics library focused on linear algebra, numerical optimization, and geometric calculations for technical applications. The project distinguishes itself through a physics simulation toolkit and a 3D geometry engine. These provide capabilities for Verlet integration, iterative inverse kinematics solvers, distance field rendering via volumetric raymarching, and mesh geometry deformation. I

Habitat-sim is a high-performance 3D simulation platform designed for training and benchmarking embodied AI agents within photorealistic indoor and outdoor environments. It serves as a simulator for AI and robotics, providing a system for generating synthetic data and simulating physical interactions. The project is distinguished by a native C++ core that enables high-throughput simulation and a rendering pipeline using physically based rendering and baked global illumination. It features a navigation system based on pre-computed navigation meshes to ensure collision-free traversal and a rigi

Ego-planner-swarm is an autonomous drone swarm trajectory planner and decentralized multi-agent navigation system. It provides algorithmic software tools for calculating collision-free movement paths for single or multiple multicopters using decentralized onboard computing and local peer communication without relying on central ground stations or servers. The software encompasses algorithmic components for drone motion planning, including asynchronous background replanning loops that adapt flight paths immediately to newly perceived obstacles or moving agents. Movement paths are represented

OM1 is a multimodal AI agent runtime and orchestration framework designed to connect large language models to physical robot hardware and sensors. It provides an execution environment that processes audio, video, and sensor data to drive autonomous decisions and actions in real-world settings. The system integrates a robotics SLAM and navigation stack with a hardware abstraction layer, allowing high-level AI commands to be translated into low-level motor and actuator instructions. It distinguishes itself by incorporating blockchain-based governance to enforce immutable operational rules and p

Pinocchio is a multi-body dynamics engine and rigid body physics library designed for computing forward and inverse kinematics and dynamics for articulated rigid-body systems. It functions as a robot kinematics solver and model parser, enabling the analysis of complex robotic systems through kinematic and dynamic computations. The project distinguishes itself with specialized capabilities for constrained dynamics, including the calculation of contact impulses and centroidal momentum. It provides a parallel processing collision detection system for computing minimal distances between rigid bod

PhysX is a physics engine SDK designed for calculating real-time rigid body dynamics, fluid simulations, and environmental interactions in virtual applications. It includes a GPU-accelerated physics solver for computing complex particle fluids and combustion models, a voxel fluid simulator for real-time gas, fire, and smoke, and a destruction simulation framework for modeling the fracture of meshes. The SDK features a specialized machine learning physics tensor interface that enables the exchange of simulation data with machine learning frameworks using a common tensor format. It also impleme

This project is a parallel simulation engine and molecular dynamics simulator designed to model the physical movements of atoms and molecules. It functions as an interatomic potential framework for calculating forces between particles and a materials analysis tool for computing thermodynamic, structural, and transport properties of solids and fluids. The engine is distinguished by its high-performance computing capabilities, utilizing spatial-domain decomposition and message-passing interface communication to distribute workloads across processors. It supports multi-backend GPU acceleration v

dm_control is a physics-based simulation framework and robot control simulation toolkit designed for creating and interacting with continuous control tasks. It serves as a suite of reinforcement learning environments and a benchmarking tool for evaluating autonomous agents within virtual physics spaces. The framework provides a collection of environments based on MuJoCo physics bindings to simulate rigid body dynamics and contact forces. It features hardware-accelerated rendering and interactive viewers for the visualization of physics environments and agent behavior. The system supports the

Matter-js is a 2D rigid body physics engine written in JavaScript for simulating realistic physical interactions, collisions, and dynamics in web browsers. It functions as a web physics simulation library that calculates motion, gravity, and constraints for objects rendered on a web canvas. The library includes a built-in canvas physics visualizer to draw physical bodies, joints, and constraints for debugging and gameplay. It distinguishes itself through a plugin system that supports recursive dependency resolution and internal method patching to inject custom logic into the engine's executio

Webots is a physics-based robot simulator and development environment used for modeling, programming, and testing the behavior of robots in a simulated 3D physical world. It serves as a virtual prototyping tool to verify mechanical and electronic systems through the creation of virtual robot models and control logic. The platform enables a full robotics simulation workflow, including the development of robot controllers and the programming of autonomous agent behaviors. It focuses on physical system modeling to represent the mechanical properties of hardware and simulate real-world interactio

FluidX3D is a GPU-accelerated computational fluid dynamics solver and voxel-based fluid simulator. It utilizes the lattice Boltzmann method to simulate gas and liquid behavior, pressure, and velocity through an OpenCL-based hardware abstraction that supports both graphics processors and CPUs. The system specializes in multi-phase flow simulation using volume-of-fluid methods for free surface modeling and droplets. It includes a thermal simulator for modeling heat transfer and thermal convection, alongside tools for aerodynamic force analysis to calculate lift, drag, and torque on physical obj

This project provides a complete set of design files and hardware specifications for a 3D-printable industrial-style robot arm. The system includes a CAN bus robot controller for managing stepper motors and sensors, a kinematics engine for calculating joint angles and poses, and a UDP-based Python API for sending motion commands and monitoring telemetry. The system features a force-controlled robotic gripper that utilizes field-oriented control on stepper motors to enable compliant grasping and precise force sensing. It also includes a 3D position visualization tool for real-time telemetry tr

Orillusion is a WebGPU 3D rendering engine designed for high-fidelity scenes and visual effects in the browser. It functions as a GPU compute framework for parallel mathematical operations and a physically-based rendering graphics pipeline for realistic materials and surfaces. The system also includes a web-based 3D animation toolkit for driving skeletal animations and interpolating vertex positions. The engine is distinguished by its use of an entity component system for scene logic and a macro-based shader generation system that creates multiple shader variants. It optimizes performance thr

This project is an autonomous vehicle simulator designed to validate self-driving logic and train deep learning algorithms within a virtual environment. It functions as a training platform for developing neural networks that control vehicle movement and steering based on visual sensor data. The simulator uses the Unity game engine to provide a physics-based world where autonomous driving algorithms can be tested on virtual road courses without the use of physical hardware. The system integrates a C# scripting backend with a physics engine for collision detection and vehicle dynamics. It util

Warp is a Python framework that JIT-compiles Python functions into CUDA kernels for GPU-accelerated parallel computation, with built-in automatic differentiation and multi-framework array interoperability. At its core, it provides a GPU kernel compilation system that enables writing and executing custom GPU kernels directly from Python, while supporting automatic gradient computation through those kernels for integration with machine learning pipelines. The framework also includes tile-based cooperative computing, where thread blocks partition into tiles for shared-memory and tensor-core opera

PufferLib is a reinforcement learning framework built around high-speed environment simulation and automatic hyperparameter optimization. It is designed to accelerate the entire RL training pipeline by running simulations at near-native speed and enabling the training of tiny models to super-human performance within seconds. The framework achieves its speed through a single-process training loop that eliminates inter-process communication overhead, vectorized batched simulation for parallel environment execution, and compiled C extensions that offload performance-critical computations. It als

Isaac Lab is an open-source framework for training robot policies in physically simulated environments, supporting both single-agent and multi-agent reinforcement learning. It is built on an Omniverse-PhysX simulation backend that models rigid bodies, articulated systems, deformable objects, and sensors, and provides a task-based environment configuration system where each training environment is defined as a modular class specifying observation spaces, action spaces, reward functions, and termination conditions. The framework distinguishes itself through an RL-library abstraction layer that