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https://github.com/ycheng517/awesome-foundation-model-ros

A collection ROS projects utilizing foundation models.
https://github.com/ycheng517/awesome-foundation-model-ros

List: awesome-foundation-model-ros

awesome awesome-list foundation-models robotics ros ros2

Last synced: about 2 months ago
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A collection ROS projects utilizing foundation models.

Host: GitHub
URL: https://github.com/ycheng517/awesome-foundation-model-ros
Owner: ycheng517
License: cc0-1.0
Created: 2024-10-27T15:01:45.000Z (about 2 months ago)
Default Branch: main
Last Pushed: 2024-10-28T00:05:57.000Z (about 2 months ago)
Last Synced: 2024-10-28T05:03:30.829Z (about 2 months ago)
Topics: awesome, awesome-list, foundation-models, robotics, ros, ros2
Homepage:
Size: 4.88 KB
Stars: 5
Watchers: 1
Forks: 1
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

ultimate-awesome - awesome-foundation-model-ros - A collection ROS projects utilizing foundation models. (Other Lists / Monkey C Lists)

README

        # awesome-foundation-model-ros

[![Awesome](https://awesome.re/badge.svg)](https://awesome.re)

A collection of ROS projects and resources utilizing or simplifying the application of foundation models in robotics.

# Frameworks

ROS frameworks for embodied intelligence applications.

## Community-Ready Frameworks

- [RAI](https://github.com/RobotecAI/rai) - Flexible AI agent framework to develop and deploy Embodied AI features for robots.

- [ROSA](https://github.com/nasa-jpl/rosa) - AI Agent that can interact with ROS1- and ROS2-based robotics systems using natural language queries.

## Research-Grade Frameworks

- [ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning](https://github.com/huawei-noah/HEBO/tree/rosllm/ROSLLM)

- [ROS-LLM (Auromix)](https://github.com/Auromix/ROS-LLM)

- [ROSGPT: Next-Generation Human-Robot Interaction with ChatGPT and ROS](https://github.com/aniskoubaa/rosgpt)

- [ROSGPT_Vision: Commanding Robots Using Only Language Models' Prompts](https://github.com/bilel-bj/ROSGPT_Vision)

- [The Conversation is the Command: Interacting with Real-World Autonomous Robots through Natural Language (TCC-IRoNL)](https://github.com/LinusNEP/TCC-IRoNL)

# Model Wrappers

ROS projects that wraps foundation models with a ROS interface.

- [llama_ros](https://github.com/mgonzs13/llama_ros) - ROS 2 wrapper for llama.cpp.

- [whisper_ros](https://github.com/mgonzs13/whisper_ros) - ROS 2 wrapper for whisper.cpp. Also provides Voice Activity Detection.

- [ros2_whisper](https://github.com/ros-ai/ros2_whisper) - ROS 2 wrapper for whisper.cpp.

- [ros2_sam](https://github.com/ros-ai/ros2_sam) ROS 1 wrapper for Segment Anything.

- [ros_sam](https://github.com/robot-learning-freiburg/ros_sam) - ROS 2 wrapper for Segment Anything.

- [grounding_sam_ros](https://github.com/HashimHS/grounding_sam_ros) - ROS 1 wrapper for Grounded Segment Anything.

- [isaac_ros_segment_anything](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation/tree/main/isaac_ros_segment_anything) - ROS 2 wrapper for Segment Anything.

- [isaac_ros_foundationpose](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation/tree/main/isaac_ros_foundationpose) - ROS 2 wrapper for FoundationPose.

- [isaac_ros_dnn_stereo_depth](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_stereo_depth) - ROS 2 wrapper for Efficient Semi-Supervised stereo disparity (ESS).

# Developer Tools

Tools that can aid in the development, operation, and troubleshooting processes of robots.

- [ros2ai](https://github.com/fujitatomoya/ros2ai) - Use ROS 2 CLI through natural language.

- [ROSA](https://github.com/nasa-jpl/rosa) - Interact with ROS1- and ROS2-based robotics systems using natural language queries.

- [ROScribe](https://github.com/RoboCoachTechnologies/ROScribe) - Create ROS packages using LLMs.

- [explainable_ROS](https://github.com/Dsobh/explainable_ROS) - Generate explanations for the actions performed by an autonomous robot.

# Demo Projects

Demonstrates interesting usage foundation models in robots.

- [Tabletop Handybot](https://github.com/ycheng517/tabletop-handybot) - Use foundation models to perform basic tabletop tasks with a robotic arm.

- [Utilizing LLMs as a Task Planning Agent for Robotics](https://github.com/hlfshell/wpi-capstone) - Use LLMs for task planning for in-home item retrieval by a mobile robot.

- [rai-rosbot-xl-demo](https://github.com/RobotecAI/rai-rosbot-xl-demo) - Use the RAI framework to control a ROSbot XL mobile robot.

- [rai-agriculture-demo](https://github.com/RobotecAI/rai-agriculture-demo) - Use the RAI framework to supervise autonomous tractors.

# Awesome Foundation Models For Robotics

Awesome lists of foundation models that can be used in robotics.

- [Awesome-LLM](https://github.com/Hannibal046/Awesome-LLM) - A curated list of Large Language Models.

- [Awesome VLM Architectures](https://github.com/gokayfem/awesome-vlm-architectures) - A curated list of famous vision language models and their architectures.

- [Awesome Robotics Foundation Models](https://github.com/robotics-survey/Awesome-Robotics-Foundation-Models) - A survey of foundation models in robotics.