Open-source alternatives to Roboticslibrary Rl

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

Bullet3 is a professional physics simulation engine designed for calculating rigid body, soft body, and collision dynamics within 3D environments and robotics applications. It functions as a computational framework for determining complex geometric intersections and contact manifolds between objects in simulated space. The library distinguishes itself through a distributed rendering framework that scales heavy graphical workloads and scene generation tasks across large clusters of machines. This capability enables the production of massive datasets by distributing complex scene generation acr

Ceres Solver is a C++ library for numerical optimization, specializing in non-linear least squares and unconstrained optimization problems. It serves as a framework for automatic differentiation and robust curve fitting, providing tools to solve large-scale mathematical models. The library is distinguished by its bundle adjustment capabilities, which exploit sparse matrix structures to refine 3D scene points and camera parameters. It utilizes dual-number automatic differentiation to compute derivatives of cost functions, removing the need for manual Jacobian derivation. The project covers a

Open source C++ physics engine library in 3D

Research-focused C++23 physics engine for robotics, animation, and machine learning, with Python bindings

2 and 3-dimensional rigid body physics engine for Rust.

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

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

Multibody Dynamics Library designed for Free Floating Robots

Genesis is an embodied AI simulation platform and parallelized robotics simulator designed for training general-purpose robotic agents. It integrates a physics engine for robotics that calculates collisions and movements for rigid bodies, soft tissues, and fluids, alongside a photorealistic 3D rendering engine. The platform features a domain randomization framework to vary environment parameters across parallel simulations, aiding in sim-to-real transfer. It supports the integration of real-world captured light fields and Gaussian splatting to provide photorealistic backgrounds within simulat

Massively parallel rigidbody physics simulation on accelerator hardware.

MuJoCo is a physics simulation engine designed for the dynamics of multi-joint articulated structures. It provides a computational framework for calculating the forces, velocities, and physical interactions of complex models within a virtual environment, supporting research in robotics, biomechanics, and machine learning. The engine utilizes a constraint-based dynamics solver and recursive algorithms to manage the motion of articulated systems. It includes a native graphical interface for real-time visualization, allowing users to inspect physical behaviors and contact dynamics as they occur.

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

PositionBasedDynamics is a library for the physically-based simulation of rigid bodies, deformable solids and fluids.

Extensible Optimization Framework

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

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

Julia implementation of various rigid body dynamics and kinematics algorithms

Kris' Locomotion and Manipulation Planning Toolkit

A template-based robot dynamics library

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH

This is the GitHub mirror for the LibrePilot source code. The main development is taking place at https://bitbucket.org/librepilot

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

Newton Dynamics is an integrated solution for real time simulation of physics environments.

A multi-body simulation software

:zap: The Mobile Robot Programming Toolkit (MRPT)

Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2