Motion planning & control

Open source

Legged-robot framework for predictive control, whole-body control, and state estimation.

Open source

ODrive driver for ros2_control.

Open source

Accelerated motion-generation tools for robot manipulation.

Open source

Library for modeling rigid-body system dynamics.

Open source

Multibody dynamics library for free-floating robots.

Open source

Toolkit for robot locomotion and manipulation planning.

Open source

Differentiable robot manipulator models for learning dynamics and control.

Open source

Differentiable physics engine for robotics, learning and control.

Open source

Code and documentation for the Spryped biped robot.

Open source

The official implementation of "AdaPT: Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking."

Open source

Implementation of an autonomous mobile robot with semantic segmentation, object detection, motion planning and control systems

Open source

Enhancing LLM/VLM capability for robot task and motion planning with extra algorithm based tools.

Open source

bcr arm: A 7-DOF robotic arm simulation with ROS2 Control, MoveIt motion planning, and support for ROS2 Humble, ROS2 Jazzy, GZ Fortress, GZ Harmonic, and NVIDIA Isaac Sim

Open source

Optimal-control framework linking CasADi, Ipopt, ACADOS, and biorbd.

Open source

Suite of libraries for achieving bipedal locomotion on humanoid robots

Open source

Robot messages, descriptions and controllers for Boxer.

Open source

Official implementation of Chain-of-Action: Trajectory Autoregressive Modeling for Robotic Manipulation. Accepted in NeurIPS 2025.

Open source

C++ toolbox for robotics, optimal control and model predictive control.

Open source

Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!

Open source

CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies

Open source

Robot learning research using separate forward and inverse dynamics pretraining.

Open source

Path planning and control algorithms for a differential drive robot using ROS2

Open source

Examples of efficient trajectory optimization for robot motion planning

Open source

Optimization framework for robot motion planning and control.