Awesome GitHub RepositoriesRobotics Libraries

This project is a comprehensive research platform designed for the end-to-end lifecycle of robotic learning. It provides a modular framework for training neural network policies—specifically through imitation and reinforcement learning—and deploying them onto physical robotic hardware. By offering a unified interface for hardware abstraction, the platform decouples high-level control logic from the specific sensors and actuators of diverse robotic systems. The framework distinguishes itself through a standardized approach to data and policy management. It utilizes a consistent schema for reco

Open3D is a software toolkit designed for the processing, alignment, and reconstruction of three-dimensional data. It functions as a computer vision geometry engine that enables the manipulation of point clouds, meshes, and volumetric grids derived from sensor inputs. The library distinguishes itself through a high-performance computational core that executes geometric processing tasks in native code, paired with a binding layer that exposes these capabilities to high-level languages for rapid prototyping. It provides specialized algorithms for spatial registration, allowing users to merge mu

Rerun is a multimodal data visualizer and robotics data logger designed for rendering synchronized streams of 3D spatial data, images, and time-series metrics. It functions as a tool for capturing high-frequency sensor data and AI outputs into a queryable columnar format, providing a dedicated interface for viewing MCAP recording files and analyzing physical environments. The project distinguishes itself as a machine learning dataset streamer, capable of feeding logged recordings directly into GPU buffers and PyTorch training pipelines without intermediate exports. It supports a high-performa

Ceres Solver este o bibliotecă C++ pentru optimizare numerică, specializată în probleme de cele mai mici pătrate neliniare și optimizare neconstrânsă. Servește ca un framework pentru diferențiere automată și potrivire robustă a curbelor, oferind instrumente pentru a rezolva modele matematice la scară largă. Biblioteca se distinge prin capabilitățile sale de bundle adjustment, care exploatează structurile de matrice rare pentru a rafina punctele scenei 3D și parametrii camerei. Utilizează diferențierea automată cu numere duale pentru a calcula derivatele funcțiilor de cost, eliminând nevoia de derivare manuală a Jacobianului. Proiectul acoperă o gamă largă de capabilități de optimizare, inclusiv constrângeri de varietate pentru spații non-euclidiene, funcții de pierdere robuste pentru a atenua valorile aberante și rezolvarea sistemelor liniare dense și rare. Oferă, de asemenea, utilitare pentru conversia reprezentării rotației, interpolarea datelor tabelate și estimarea covarianței parametrilor. Configurațiile de build sunt disponibile pentru ținte Android și iOS pentru a susține optimizarea hardware-ului mobil.

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

A Python implementation of the Robotics Toolbox for MATLAB ® GitHub repository Documentation ICRA Paper Wiki (examples and details)

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

The Open Motion Planning Library (OMPL)

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.

Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library

Extensible Optimization Framework