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awesome-ai-robotics

A list of awesome AI Robotics resources
https://github.com/tc-huang/awesome-ai-robotics

Last synced: 1 day ago
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  • Simulation

    • Teleoperation

      • **ManiSkill** - SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark.
      • **ManiSkill** - SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark.

  • Visualization

    • Teleoperation

      • **rerun** - Visualize streams of multimodal data. Free, fast, easy to use, and simple to integrate. Built in Rust.
      • **rerun** - Visualize streams of multimodal data. Free, fast, easy to use, and simple to integrate. Built in Rust.

  • Data Infrastructure

    • Teleoperation

      • **CORTEX** - CORTEX is a framework for accelerating robotics development through a combination of modern data infrastructure, test automation, and intelligent data analysis. The framework enables developers to rapidly prototype and test new algorithms and ideas with minimal effort.

  • ROS2

    • ROS2 Packages

      • **rosa** - ROSA is an AI Agent designed to interact with ROS1- and ROS2-based robotics systems using natural language queries. ROSA helps robot developers inspect, diagnose, understand, and operate robots.
      • **ROS-LLM** - ROS-LLM is a framework designed for embodied intelligence applications in ROS. It allows natural language interactions and leverages Large Language Models (LLMs) for decision-making and robot control.
      • **ros2ai** - ros2ai is a next-generation ROS 2 command line interface extension with LLMs.
      • **ros_deep_learning** - Deep learning inference nodes for ROS / ROS2 with support for NVIDIA Jetson and TensorRT.
      • **rosa** - ROSA is an AI Agent designed to interact with ROS1- and ROS2-based robotics systems using natural language queries. ROSA helps robot developers inspect, diagnose, understand, and operate robots.
      • **ROS-LLM** - ROS-LLM is a framework designed for embodied intelligence applications in ROS. It allows natural language interactions and leverages Large Language Models (LLMs) for decision-making and robot control.
      • **ros2ai** - ros2ai is a next-generation ROS 2 command line interface extension with LLMs.
      • **ros_deep_learning** - Deep learning inference nodes for ROS / ROS2 with support for NVIDIA Jetson and TensorRT.

    • Dev Tools

  • Mobile Robot

    • Applications and Demos

      • **stretch (hello-robot)**
      • **ReallyUsefulRobot**
      • **Maxwell** - Maxwell is a custom mobile manipulator based on the Etherbotix.
      • **RoBart** - An iPhone-based LLM-controlled autonomous robot. RoBart began as an attempt to build a cheap mobile base using a hoverboard and iPhone Pro. Mobile phones are easy to work with and provide plenty of compute, connectivity, and useful peripherals: RGB cameras, LiDAR, microphones, speakers.
      • **RoBart** - An iPhone-based LLM-controlled autonomous robot. RoBart began as an attempt to build a cheap mobile base using a hoverboard and iPhone Pro. Mobile phones are easy to work with and provide plenty of compute, connectivity, and useful peripherals: RGB cameras, LiDAR, microphones, speakers.
      • **stretch (hello-robot)**
      • **ReallyUsefulRobot**
      • **Maxwell** - Maxwell is a custom mobile manipulator based on the Etherbotix.

  • Humanoid

  • Frameworks

    • Teleoperation

      • **ROS2** - The Robot Operating System (ROS) is a set of software libraries and tools that help you build robot applications.
      • **dora-rs** - DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications.
      • **dora-lerobot** - Dora-LeRobot is a 100% Dora pipeline for manipulating robots, cameras and all possible hardware compatible with LeRobot.
      • **AimRT** - AimRT is a basic runtime framework for the field of modern robotics. It is developed based on modern C++, is lightweight and easy to deploy, and has more modern designs in resource management and control, asynchronous programming, deployment configuration, etc.
      • ![Star History Chart - history.com/#ros2/ros2&dora-rs/dora&AimRT/AimRT&Timeline)
      • ![Star History Chart - history.com/#ros2/ros2&dora-rs/dora&AimRT/AimRT&Timeline)
      • **ROS2** - The Robot Operating System (ROS) is a set of software libraries and tools that help you build robot applications.
      • **dora-rs** - DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications.
      • **dora-lerobot** - Dora-LeRobot is a 100% Dora pipeline for manipulating robots, cameras and all possible hardware compatible with LeRobot.
      • **AimRT** - AimRT is a basic runtime framework for the field of modern robotics. It is developed based on modern C++, is lightweight and easy to deploy, and has more modern designs in resource management and control, asynchronous programming, deployment configuration, etc.

  • Robotic Arms

    • Hardware

      • **SO-ARM100** - Standard Open Arm 100.
      • **Dummy-Robot** - Super compact smart robotic-arm.
      • ![Star History Chart - history.com/#AlexanderKoch-Koch/low_cost_robot&jess-moss/koch-v1-1&jess-moss/moss-robot-arms&TheRobotStudio/SO-ARM100&peng-zhihui/Dummy-Robot&Timeline)
      • **Low-Cost Robot Arm** - This repository contains the files to build and control a low-cost robot arm that costs about $250. Such a robot arm is well-suited for robot learning. Two of those arms are also capable of folding clothes.
      • **Low-Cost Robot Arm: Koch v1.1** - A version 1.1 of the Alexander Koch low-cost robot arm with some small changes.
      • **moss-robot-arms** - A repository for affordable, easy-to-assemble robot arms designed for teleoperation applications.
      • **SO-ARM100** - Standard Open Arm 100.
      • **Dummy-Robot** - Super compact smart robotic-arm.
      • ![Star History Chart - history.com/#AlexanderKoch-Koch/low_cost_robot&jess-moss/koch-v1-1&jess-moss/moss-robot-arms&TheRobotStudio/SO-ARM100&peng-zhihui/Dummy-Robot&Timeline)
      • **Low-Cost Robot Arm** - This repository contains the files to build and control a low-cost robot arm that costs about $250. Such a robot arm is well-suited for robot learning. Two of those arms are also capable of folding clothes.
      • **Low-Cost Robot Arm: Koch v1.1** - A version 1.1 of the Alexander Koch low-cost robot arm with some small changes.
      • **moss-robot-arms** - A repository for affordable, easy-to-assemble robot arms designed for teleoperation applications.

    • Applications and Demos

      • **SimpleAutomation** - Opensource robot to automate repetitive tasks. Currently, it's a set of helper scripts on top of LeRobot repo.
      • ![Star History Chart - history.com/#1g0rrr/simpleautomation&Timeline)
      • **BiGym** - BiGym is a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, ranging from simple target reaching to complex kitchen cleaning.
      • **BiGym** - BiGym is a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, ranging from simple target reaching to complex kitchen cleaning.
      • **Aloha Bigym Modifications** - This Fork of Bigym contains the bigym tasks modified to work with the ALOHA bimanual system.
      • **SimpleAutomation** - Opensource robot to automate repetitive tasks. Currently, it's a set of helper scripts on top of LeRobot repo.
      • ![Star History Chart - history.com/#1g0rrr/simpleautomation&Timeline)
      • **Aloha Bigym Modifications** - This Fork of Bigym contains the bigym tasks modified to work with the ALOHA bimanual system.

  • Learning Source

    • Dev Tools

      • **Modern Robotics** - This repository contains the code library accompanying Modern Robotics: Mechanics, Planning, and Control (Kevin Lynch and Frank Park, Cambridge University Press 2017).
      • **ROS2 Cookbook** - A collection of snippets ranging multiple topics in ROS 2
      • **mjctrl** - Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.
      • **Pinocchio** - Pinocchio instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. Besides, Pinocchio provides the analytical derivatives of the main Rigid-Body Algorithms, such as the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm.
      • **PyRoboPlan** - Educational Python library for manipulator motion planning.This library extensively uses the Pinocchio Python bindings for modeling robot kinematics and dynamics.
      • **Pinocchio** - Pinocchio instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. Besides, Pinocchio provides the analytical derivatives of the main Rigid-Body Algorithms, such as the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm.
      • **PyRoboPlan** - Educational Python library for manipulator motion planning.This library extensively uses the Pinocchio Python bindings for modeling robot kinematics and dynamics.
      • **Modern Robotics** - This repository contains the code library accompanying Modern Robotics: Mechanics, Planning, and Control (Kevin Lynch and Frank Park, Cambridge University Press 2017).
      • **ROS2 Cookbook** - A collection of snippets ranging multiple topics in ROS 2
      • **mjctrl** - Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

  • Star History of This List

  • Library

    • **Open-Teach** - A Versatile Teleoperation framework for Robotic Manipulation using Meta Quest3.
    • **LeRobot** - LeRobot aims to provide models, datasets, and tools for real-world robotics in PyTorch. LeRobot contains state-of-the-art approaches that have been shown to transfer to the real-world with a focus on imitation learning and reinforcement learning.
    • **Universal Manipulation Interface** - In-The-Wild Robot Teaching Without In-The-Wild Robots.
    • **Open-Teach** - A Versatile Teleoperation framework for Robotic Manipulation using Meta Quest3.
    • **Universal Manipulation Interface** - In-The-Wild Robot Teaching Without In-The-Wild Robots.
Programming Languages
Python 35 C++ 12 Rust 4 C# 2 Swift 2 Shell 2 C 2 CMake 2
Categories
Robotic Arms 20 ROS2 16 Learning Source 10 Frameworks 10 Humanoid 9 Mobile Robot 8 Library 5 Simulation 2 Star History of This List 2 Visualization 2 Data Infrastructure 1
Sub Categories
Dev Tools 20 Teleoperation 17 Applications and Demos 16 Hardware 12 ROS2 Packages 8 Robot 7
Keywords
robotics 20 ros 11 ros2 10 python 6 open-source 5 computer-vision 4 embodied-ai 4 llm 4 rust 4 reinforcement-learning 3 visualization 3 manipulation 2 robot 2 inference 2 embodied-intelligence 2 gpt 2 dataflow 2 low-latency 2 docker 2 vscode 2 workspace 2 nasa 2 jpl 2 developer-tools 2 ai 2 agents 2 multimodal 2 cpp 2 simulation-environment 2 robotics-simulation 2 robot-manipulation 2 robot-learning 2 3d-computer-vision 2 code-generation 2 conda 2 cppad 2 dynamics 2 fcl 2 kinematics 2 motion-planning 2 pinocchio 2 rigid-body-dynamics 2 urdf 2 manipulator 2 planning 2 arduino 2 arkit 2 claude-3-5-sonnet 2 gpt-4 2 ros2-tracing 2