Repository
Open source
MuJoCo · google-deepmind
MuJoCo physics simulator for multijoint dynamics and contact.
Motion planning & controlTHE EMBODIED AI DIRECTORY
Motion planning & control
Find kinematics, dynamics, trajectory-generation and motion-planning tools.
Repository
Open source
Repository
Research
cleanrl · vwxyzjn
Single-file implementations of deep reinforcement-learning algorithms.
Motion planning & control
Repository
Open source
dm_control · google-deepmind
MuJoCo-based physics simulation and reinforcement learning environments from Google DeepMind.
Motion planning & control
Repository
Open source
Pinocchio
Rigid-body kinematics and dynamics algorithms for robot models.
Motion planning & control
Repository
Open source
Crocoddyl
Optimal-control tools for robotic systems with multiple contacts.
Motion planning & control
Repository
Open source
rl baselines3 zoo · DLR-RM
Training, tuning and evaluation tools for Stable-Baselines3 reinforcement learning agents.
Motion planning & control
Repository
Open source
towr · ethz-adrl
C++ trajectory optimization library for legged robots.
Motion planning & control
Repository
Research
GR00T WholeBodyControl · NVlabs
Tools and models for developing humanoid whole-body controllers.
Motion planning & control
Repository
Repository
Open source
BaselineWalkingController · isri-aist
Humanoid walking controller with various baseline methods
Motion planning & control
Repository
Open source
CentroidalControlCollection · isri-aist
Collection of centroidal control for legged robots
Motion planning & control
Repository
Open source
python motion planning · ai-winter
Python motion-planning examples for AGV and AMR systems.
Motion planning & control
Repository
Open source
ifopt · ethz-adrl
C++ interface to nonlinear programming solvers.
Motion planning & control
Repository
Open source
umi-on-legs · real-stanford
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
Motion planning & control
Repository
Open source
ocs2 · leggedrobotics
Optimal control toolbox for switched systems with robotics examples and ROS integration.
Motion planning & control
Repository
Open source
Ruckig
Online trajectory generation for controlled robotic motion.
Motion planning & control
Repository
Research
OMPL
Sampling-based motion-planning algorithms for robotic systems.
Motion planning & control
Repository
Open source
dreamer · danijar
Dreamer implementation for learning control behaviors with latent world models.
Motion planning & control
Repository
Repository
Research
ihmc-open-robotics-software · ihmcrobotics
Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds…
Motion planning & control
Repository
Research
fdm · leggedrobotics
Learned forward dynamics model with robot learning and ROS integration resources.
Motion planning & control
Repository
Research
humanoid gym · roboterax
Reinforcement-learning framework for humanoid control and sim-to-real research.
Motion planning & control
Repository
Research
Orocos KDL
Kinematics and dynamics libraries for robotic mechanisms.
Motion planning & control
Repository
Open source
dart · dartsim
Dynamic Animation and Robotics Toolkit for dynamics and simulation.
Motion planning & controlSELECTION NOTES
Choosing motion planning & control
Check robot models, collision representations, timing and control interfaces. A feasible geometric path still needs dynamic and hardware-level validation before execution.
A PLACE FOR YOUR NEXT DISCOVERY
Suggest a resource ↗The ecosystem keeps growing.
Know a resource that belongs here?