Robot learning frameworks

Open source

Server implementations of the rosbridge protocol for ROS integration.

Open source

ROS 2 integration for llama.cpp language models and llava.cpp vision-language models.

Open source

ROS 2 speech recognition using SileroVAD and whisper.cpp.

Open source

A furniture-assembly environment for long-horizon manipulation tasks.

Open source

Research tools for mobile manipulation.

Open source

Replication package of the paper titled "How do you Architect your Robots? State of the Practice and Guidelines for ROS-based Systems" published at ICSE-SEIP 2020

Open source

Motion-planner-augmented RL for manipulation in obstructed environments.

Research

SOFA-based soft-robot RL with domain randomization.

Research

ROS packages for Hello Robot Stretch mobile manipulators.

Open source

PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encoders.

Research

RLinf ActProbe adds probe-based early termination to embodied-policy reinforcement learning.

Research

A plug-and-play deploy framework for robots. Just deploy, just do.

Open source

LEO research implementation for a generalist embodied agent in 3D environments.

Open source

A simplified URDF description of the ANYmal C quadruped.

Research

RoboHive provides a framework and task suites for robot learning.

Open source

Behavior-tree library for ROS, with C++ and Python interfaces.

Research

ROS 2 driver for the Kinova Gen3 robot arm.

Research

Robot model collection for OpenRAVE.

Open source

Official implementation of "Data Scaling Laws in Imitation Learning for Robotic Manipulation"

Open source

🦀 Appearance and scene design for Jumper, an open-source crab robot.

Open source

Collection of online robotics courses and learning resources.

Open source

AI Worker: FFW (Freedom From Work)

Research

A visual fiducial system for robotics research.

Research

Main software repository for the iCub humanoid robot.