Open software that robots run on, with the license read from each project's license file, whether it is still maintained, and the robots on Robotheca that use it. A reference, not a download site: every entry links to its source.
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A ROS 2 package set that lets developers talk to Unitree Go2, B2, and H1 robots using standard ROS 2 messages over CycloneDDS, without wrapping the SDK.
UMI is a handheld gripper and software pipeline for collecting robot manipulation demonstrations and training visuomotor policies from them, deployable on UR5 and ARX X5 arms.
ROSA is an AI assistant built on LangChain that lets people interact with ROS 1 and ROS 2 robotic systems through natural language queries.
A C++ toolbox for formulating and solving nonlinear optimal control problems, aimed at real-time Model Predictive Control (MPC) for robotics.
A reinforcement learning toolkit for training and deploying motion control policies on Unitree robots such as Go2, H1, H1_2 and G1. It covers training, playback, simulation and real-robot deployment.
A training environment built on NVIDIA Isaac Gym for teaching legged robots, such as ANYmal, to walk over rough terrain with sim-to-real transfer features.
A C++ motion control framework for the Qinglong humanoid robot, combining MPC and WBC, runnable in the MuJoCo simulator with walking, jumping and blind obstacle stepping examples.
A model-based control stack for legged robots combining nonlinear MPC and whole-body control, built on OCS2 and ros-control for ROS. It is no longer supported by its authors.
A learning framework that trains robot visuomotor policies by generating actions with a diffusion model, with reproduced benchmarks in simulation and a real UR5 robot setup.
A ROS software framework for building and controlling quadruped robots, with a gait controller, simulation, and navigation support. It targets both new robot designs and developing control algorithms.
ACT is an imitation-learning policy that predicts action chunks with transformers, with simulated tasks for training and evaluating it in sim or on real robots.
A robot and simulation software project for MIT Biomimetics' Cheetah quadruped robots, with a shared dynamics library, robot control code, and a Qt-based simulator.
Projects 25–36 of 36