Open-source alternatives to BehaviorTree.CPP

An Event-Driven, Asynchronous, Behavioral State Machine Library for ROS (Robotic Operating System) applications written in C++

Navigation2 is a ROS 2 navigation framework for autonomous mobile robots. It provides the core identity of a path planner, costmap management system, kinematic motion controller, and behavior tree orchestrator to compute collision-free routes and execute movement commands. The framework is distinguished by its use of behavior trees to coordinate modular task servers, enabling complex navigation routines and autonomous recovery actions. It supports a plugin-based architecture that allows planners and controllers to be swapped at runtime to adapt to different environments. The system covers a

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

Piston is a modular game engine and framework written in Rust for building two and three-dimensional graphical applications. It functions as a cross-platform windowing library and a system for managing input events and window loops across different operating systems. The project provides specialized rendering systems, including a voxel rendering engine for volumetric pixels and a skeletal animation system for deforming meshes via hierarchical bone structures. It also features an immediate mode user interface toolkit for creating responsive on-screen elements and a behavior tree AI framework t

ActionRoguelike is a third-person cooperative game project built with C++ and Unreal Engine. It functions as a networked application that utilizes replication architecture to synchronize character states and combat across multiple clients. The project implements a data-oriented performance framework that employs object pooling and asynchronous asset loading to optimize memory usage and frame rates. It features a behavior tree AI system combined with environment queries to drive autonomous NPC decision making and combat, alongside a binary serialization framework for saving actor variables and

Navigation2 is a navigation stack for ROS 2 designed for autonomous robot navigation. It provides a framework for computing optimal paths from a starting position to a goal while avoiding static and dynamic obstacles. The system utilizes a behavior tree orchestrator to coordinate complex navigation tasks and trigger recovery actions. Its architecture is plugin-based, allowing planners, controllers, and costmap layers to be swapped at runtime without recompiling the core system. The project covers path planning, motion control, and environmental mapping. It generates occupancy grids and costm

Dora is a robotics dataflow framework and distributed orchestrator used to build and manage processing pipelines. It enables the deployment of robotics workloads across clusters with remote node execution and provides a real-time data pipeline for predictable performance. The system is distinguished by its support for multi-language nodes written in Rust, Python, C, or C++ that interoperate within a single dataflow. It utilizes a zero-copy shared-memory transport and columnar formats to minimize latency for large payloads, and it includes bidirectional bridges to integrate with external ecosy

ET is a C# game server framework and distributed actor model runtime designed for large-scale multiplayer environments. It provides a comprehensive toolkit for building distributed game backends, incorporating a multiplayer network transport layer and a specialized suite for game AI and pathfinding. The framework is distinguished by its use of a distributed actor model to scale processing across multiple threads and servers, utilizing isolated actors for state management and messaging. It features a unified codebase architecture that allows shared logic between the server and client, enabling

Autoware is a modular autonomous driving stack and open-source platform for advanced driver assistance systems. It functions as an integrated operating environment that manages the full pipeline from sensor data processing to vehicle actuation, utilizing the ROS 2 robotics framework for distributed communication and hardware abstraction. The system provides a comprehensive software architecture to enable autonomous driving across various vehicle platforms. It coordinates perception, planning, and control systems to operate vehicles without human intervention. The platform covers several core

This project is a comprehensive Lisp AI implementation library that provides reference implementations for various artificial intelligence paradigms and symbolic algorithms. It functions as a multi-purpose toolkit containing a logic programming engine, a natural language processing suite, and a symbolic mathematics toolkit. The library is distinguished by its diverse architectural frameworks, including a Prolog-style execution engine that uses unification and goal-driven backtracking, and a system for simulating human decision-making through expert system shells and certainty factors. It also

The Gemini Cookbook is a comprehensive collection of implementation patterns, code samples, and development guides designed for building applications with Google Gemini models. It serves as a central resource for developers to integrate multimodal generative artificial intelligence into their software, providing the necessary frameworks to manage model interactions, stateful workflows, and structured data extraction. The repository distinguishes itself by offering specialized toolkits for autonomous agent orchestration, enabling the construction of agents that can execute code, browse the web

Pentaho Kettle is an enterprise ETL data integration platform designed to extract, transform, and load data between disparate sources and target databases. It functions as a metadata-driven orchestrator that utilizes a visual workflow designer to create and manage complex sequences of data tasks and transformation pipelines. The system is distinguished by its distributed data processing engine, which executes workloads across clusters of server nodes to increase throughput. It employs a plugin-based architecture, allowing the platform to be extended via external JAR files to provide connectiv

PixiEditor is a multi-functional graphics suite that serves as a pixel art editor, a node-based graphics editor, and a vector graphics tool. It functions as a shader-based painting tool and 2D animation software, providing a comprehensive environment for creating raster images and frame-by-frame motion. The project is distinguished by its use of node-based workflows for building complex image transformations, visual effects, and custom digital brush designs. It utilizes a shader-based brush engine and a node graph to define personalized painting tool behaviors and procedural animations. The

litegraph.js is a JavaScript dataflow framework and visual node graph engine used to define programmable logic and data flow. It provides a node-based visual programming tool for designing complex logic through connected functional blocks. The library allows for the creation of hierarchical logic by nesting multiple nodes into recursive subgraphs. It also supports the development of custom node types with unique inputs and outputs, as well as custom widgets and live views that can hide the underlying graph structure to present a visual interface. The engine enables the execution of logic gra

Zend Framework is a comprehensive set of decoupled components for building modular, event-driven web applications. It implements an MVC architecture to separate business logic from the user interface and provides a structured request-handling system through a sequential middleware pipeline. The project features a factory-driven dependency injection container to automate object instantiation and manage class lifecycles. It also includes a comprehensive security suite for verifying user identities and restricting resource access using access control lists and role-based access control adapters.

PocketFlow is a graph-based framework for designing and executing large language model operations and reasoning patterns. It serves as an orchestrator for building goal-oriented autonomous agents, multi-agent systems, and retrieval-augmented generation pipelines. The system is distinguished by its ability to coordinate autonomous AI agents that use shared memory and tools to solve complex goals, supported by a structured output engine that enforces schema-consistent responses. It utilizes graph-based workflow orchestration to manage sequences of model operations and supports supervisor-based

This project is a comprehensive collection of software design patterns implemented in Python. It serves as a reference for architectural, behavioral, creational, and structural patterns to guide the organization of Python applications. The collection covers behavioral strategies for managing object communication and state, creational techniques for controlling object instantiation, and structural methods for composing classes and objects into flexible hierarchies. It also includes architectural references for system-wide structuring, such as multi-tier architectures and blackboard models. Th

The TensorFlow Cookbook is a collection of code examples and recipes for building, training, and deploying machine learning models using TensorFlow. It covers the full model lifecycle, from constructing neural networks and training them with configurable parameters to packaging trained models for production deployment with unit tests and multi-device support. The project also integrates TensorBoard for logging and visualizing computational graphs, scalar summaries, and histograms during training. The cookbook demonstrates a wide range of machine learning techniques, including convolutional ne

This project is an architectural design course and educational resource focused on breaking large JavaScript codebases into independent, testable, and environment-agnostic components. It serves as a modular programming guide and reference for implementing structural strategies and best practices in production environments. The material emphasizes the use of design patterns to create decoupled components and robust logic. It specifically covers strategies for dependency inversion and the use of generic interfaces to ensure logic can run across different JavaScript runtimes. The guide provides

Seneca is a message-driven architecture framework and microservices toolkit for Node.js. It functions as a distributed task orchestrator and pattern-based message router, allowing developers to build systems of decoupled services that communicate via a message bus. The framework distinguishes itself through a modular plugin system that organizes business logic into reusable, configurable modules. It supports dynamic action extensions, enabling new handlers to wrap or override existing action patterns to inject custom logic without modifying original code. The system covers a broad range of c

jetson-inference is a set of libraries and tools for executing optimized deep learning models on embedded GPU hardware. Its primary purpose is to enable real-time computer vision and AI inference at the edge with low latency and high throughput. The project distinguishes itself through high-performance streaming analytics and the ability to execute concurrent AI pipelines on auto-grade silicon. It provides specialized support for multi-sensor stream processing, utilizing zero-copy data transport to load camera frames directly into GPU memory. The codebase covers a broad surface of capabiliti

Rete is a framework for building interactive, node-based visual interfaces and dataflow programming environments. It provides a core engine that processes directed graphs, allowing developers to define modular logic where nodes represent operations and connections represent the flow of data or control. By decoupling the graph logic from the user interface, the framework enables the creation of custom visual editors that can be integrated into various frontend component libraries. The project distinguishes itself through a highly extensible, signal-driven architecture that supports complex req

mcp-go is a Go implementation of the Model Context Protocol (MCP) providing an SDK and framework for building servers that connect large language model applications to external tools and data sources. It serves as a developer kit for implementing bidirectional communication and structured data exchange between AI clients and servers. The framework enables the creation of executable tools with structured output schemas, reusable prompt templates, and data resource exposure via URI templates. It supports multiple transport layers, including stdio, HTTP, and Server-Sent Events, using a transport

This project provides a comprehensive style guide and architectural framework for building maintainable, modular, and consistent components within the Vue.js ecosystem. It establishes a set of standardized rules for organizing user interface elements into self-contained units, ensuring that logic and styles remain isolated to prevent unintended side effects. The guide distinguishes itself by focusing on strict encapsulation and clear interface design. It promotes the use of namespace-based style scoping to prevent visual leakage and enforces predictable component inputs through descriptive na

This project is a REST API proxy and gateway for the Midjourney Discord bot. It functions as a wrapper that translates standard API calls into Discord messages, enabling the automation of AI image generation without direct interaction with the Discord interface. The system includes a multi-account load balancer that distributes generation tasks across a pool of authenticated accounts to manage rate limits and increase throughput. It also features a content filtering proxy to scrub sensitive words from prompts and a translation layer that converts non-English text into English via external ser

Awaitility is a Java asynchronous testing library and conditional polling framework. It provides a fluent domain-specific language to synchronize tests with asynchronous operations by polling for specific states or conditions. The library allows for the configuration of polling intervals, timeouts, and the assignment of specific threads or services to handle background polling. It includes mechanisms for deadlock detection, exception filtering to treat specific errors as false results, and the ability to fail fast when a prohibited condition is met. The framework covers state verification, i

RxFFmpeg is an Android multimedia framework and media transcoder based on FFmpeg. It provides a set of tools for video and audio editing, transcoding, and processing on Android devices. The framework integrates a video player component for rendering local files and network streams with zoom and rotation support. It also includes specialized libraries for Android video editing, such as cropping and splicing, and Android audio processing for mixing tracks and modifying voice pitch. The project covers broad media manipulation capabilities, including the conversion of images to video, the extrac