erwincoumans

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

Prototyping robots for PyBullet (F1/10 MIT Racecar, Sawyer, Baxter and Dobot arm, Boston Dynamics Atlas and Botlab environment)

SIMD optimized operations on 3d and 4d vectors, 3x3 and 4x4 matrices and quaternions for SSE, PPU and SPU

testbeds, random bits, snippets mainly for real-time physics/graphics development. The GPU rigid body pipeline is moved to a separate repository at http://github.com/bulletphysics/bullet3

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GPU SPH fluids v3 from http://fluids3.com by Rama Hoetzlein

Creating an EGL + OpenGL context using glad, dynamically loading the libraries, for headless rendering in the cloud (for example using Ubuntu 16.04 without X11)

XenoCollide is the first Minkowski Portal Refinement implementation by Gary Snethen, now available under the zlib license

Python bindings for open source MuJoCo

tiny toy rigid body sim in python

Port of Dekrispator Synthesizer to Windows, Linux, Mac and Raspberry Pi. Original for STM32F4 is here: https://github.com/MrBlueXav/Dekrispator Using STK for midi and sound playback.

Examples calling Warp precompiled (cached) kernels directly from C++ (without Python)

PyTinyRenderer is a simple C++/CPU renderer, this fork adds Python bindings and triangle clipping and OpenGL compatible view/projection matrix.

enet NAT punchthrough test

Fork of https://bitbucket.org/pchorak/contact_models

Transmitter and receiver sketches for Arduino for remote servo PWM control, such as electronic skateboard or rc car

Python module with simulation backends

Composable transformations of Python+NumPy programs: differentiate, vectorize, JIT to GPU/TPU, and more

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A mini racetrack world for developing and testing robots with AWS RoboMaker and Gazebo simulations.

An implementation of the Augmented Random Search algorithm

Minimal example to access PyBullet using C++

Flexible Collision Library by Jia Pan, Dinesh Manocha, Ioan Sucan and Sachin Chitta.

Using shared memory to communicate between two executables or processes, for Windows, Linux and MacOS (posix). Can also be useful for remote visualization/debugging.

Numerical methods (NUM) for (4) linear complementarity problems (LCP) in physics-based animation. (fork from num4lcp.googlecode.com without the 'aux' folder that breaks Windows platform)

Send and receive to nRF24L01+ from Mac and Linux using libusb and the CrazyRadio dongle with nRF24LU1+

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Simulation for DJI Pupper v2 robot

RTQL8 (articulate) is a Dynamic Multibody Simulator by Karen Liu et. al. from the Georgia Institute of Technology

Automatically exported from code.google.com/p/dynamica

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Reinforcement Learning Environments for Omniverse Isaac Gym

Python wrapper over OpenRave's IKFast inverse kinematics solver for a xArm 6 robot arm.

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

Isaac Gym Environments for Legged Robots

Projects built on the Electrosmith Daisy system

Omniverse Kit C++ Extension Template

:sunglasses: A curated list of robotics libraries and software

Fork of Premake4 build system with the iPhone/Xcode patch applied. See also http://http://industriousone.com/topic/premake-support-ios-iphone-ipad

Use CUDA without linking against the CUDA libraries, but using dlopen instead (tested on Ubuntu and Windows)

Automatically exported from code.google.com/p/motion-toolkit

debug data over a shared memory connection to an OpenGL ImGUI window

A Paper List for Humanoid Robot Learning.

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Isaac Gym Reinforcement Learning Environments

DynaMo: Dynamic Motion library by Bart Barenbrug, from http://users.bart.nl/users/starcat/dynamo

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.

Tensors and Dynamic neural networks in Python with strong GPU acceleration

Code & schematics for position tracking sensor using HTC Vive's Lighthouse system and a Teensy board.

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Deep Learning papers reading roadmap for anyone who are eager to learn this amazing tech!

Install and debug iPhone apps from the command line, without using Xcode

A Multi-Model Simulation and Analysis Tool for Multi-Body Systems by Stephen Berard, Jeff Trinkle, Binh Nguyen, and Ben Roghan

A Python framework for high performance GPU simulation and graphics

Universal Scene Description

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Read remote controlled receivers using arduino devices

aobench in OpenGL compute shader!

OpenCL Extension Wrangler clone from https://code.google.com/p/clew

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

tangere is a cross-platform, template-based integer/floating-point ray tracing system that accompanies the paper "Integer Ray Tracing" by Heinly et al. See also https://sites.google.com/site/raytracingcourse

PositionBasedDynamics is a library for the physically-based simulation of rigid bodies, deformable solids and fluids.

Official repo for GraspGen: A Diffusion-based Framework for 6-DOF Grasping

A universal summary of current robotics simulators

RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning

Motion imitation with deep reinforcement learning.

NVIDIA Isaac GR00T N1 is the world's first open foundation model for generalized humanoid robot reasoning and skills.

A multi core friendly rigid body physics and collision detection library, written in C++, suitable for games and VR applications.

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[IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

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Sim-to-real RL training and deployment tools for the Unitree B1, Go1, and Go2 robots.

A python binding of Dart, an open source simulation package

Elias Daler's Bikeshed Renderer (Vulkan renderer/game engine)

RL implementations

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

[CoRL 2023] Robot Parkour Learning

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[ICLR2023] DiffMimic: Efficient Motion Mimicking with Differentiable Physics

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Examples for the Daisy Platform

A Powerful, Open Source DSP Library in C++

a fast, scalable, multi-language and extensible build system

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SwiftShader is a high-performance CPU-based implementation of the Vulkan, OpenGL ES, and Direct3D 9 graphics APIs. Its goal is to provide hardware independence for advanced 3D graphics.

Julia implementation of various rigid body dynamics and kinematics algorithms

Seamless operability between C++11 and Python

Evolution Strategies Tool

Minimal test project using Bullet, cmake and git submodule

A fork of the BulletSharp project to make the Bullet Physics Engine usable from C# code in Unity3d

The Forge Cross-Platform Rendering Framework PC, macOS / iOS, Android, XBOX, PS4

CIS565: CUDA Rasterizer

C++ implementation of the 3D QuickHull algorithm

Draft implementation of M-ABD: Scalable, Efficient, and Robust Multi-Affine-Body Dynamics

An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

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Fast-FoundationStereoPose = Fast-FoundationStereo + SAM2, zero-shot real-time Foundation Pose

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A generative world for general-purpose robotics & embodied AI learning.

testing Claude Code, Cursor etc.

GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.

Filament is a real-time physically based rendering engine for Android, iOS, Windows, Linux, macOS, and WebGL2

Open Source Lighthouse Tracking System

[CoRL 2025] Neural Robot Dynamics

Python parser for URDFs

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Omniverse Kit App Template

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[CVPR 2025 Highlight] InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions

[CoRL 2024] Open-TeleVision: Teleoperation with Immersive Active Visual Feedback

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NVIDIA PhysX SDK

🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

An open-source library for GPU-accelerated robot learning and sim-to-real transfer.

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The NVIDIA® Tools Extension SDK (NVTX) is a C-based Application Programming Interface (API) for annotating events, code ranges, and resources in your applications.

Multi-Joint dynamics with Contact. A general purpose physics simulator.

Unified framework for robot learning built on NVIDIA Isaac Sim

Unitree robot sdk version 2. https://support.unitree.com/home/zh/developer

Barkour Robot: Agile Quadruped Robots by Google DeepMind

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RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

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JAX-Toolbox

A planning, control, and analysis toolbox for nonlinear dynamical systems. More info at

Omniverse MJCF Importer Extension

Omniverse URDF Importer

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Embree ray tracing kernels repository.

A new project to resume development on the formerly open-source Redis project. We're calling it Valkey, like a Valkyrie.

Redis is an in-memory database that persists on disk. The data model is key-value, but many different kind of values are supported: Strings, Lists, Sets, Sorted Sets, Hashes, Streams, HyperLogLogs, Bitmaps.

Networked Physics Demo (GDC 2015)

Official Algorithm Implementation of ICML'23 Paper "VIMA: General Robot Manipulation with Multimodal Prompts"

Official Task Suite Implementation of ICML'23 Paper "VIMA: General Robot Manipulation with Multimodal Prompts"

Source code for the XScopes

A minimal PyTorch re-implementation of the OpenAI GPT (Generative Pretrained Transformer) training

Physics Engine Evaluation Lab

An updated build of PEEL dedicated to PhysX

Combustion engine simulator that generates realistic audio.

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MyoSuite is a collection of environments/tasks to be solved by musculoskeletal models simulated with the MuJoCo physics engine and wrapped in the OpenAI gym API.

High-throughput simulation platform for Artificial Intelligence reseach

Instant neural graphics primitives: lightning fast NeRF and more

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Source code for the article "Code vs Data Driven Displacement"

Massively parallel rigidbody physics simulation on accelerator hardware.

try to share a c-array to numpy without copy

Autogenic differentiation

Nimble: Physics Engine for Deep Learning

Jax (Flax) implementation of algorithms for Deep Reinforcement Learning with continuous action spaces.

2D and 3D physics engines focused on performance.

Efficient Differentiable Simulation of Articulated Bodies (ICML2021)

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WebGL-based 3D visualizer for Python

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Web-based fork of fogleman/Craft ⛺

Online multiplayer game login server for secure user authentication.

A simple Minecraft clone written in C using modern OpenGL (shaders).

Wrapper around pybullet panda arm for RL

Jiminy is an extremely fast and light weight Python/C++ simulator of poly-articulated systems compatible with openAI Gym.

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Dear ImGui: Bloat-free Graphical User interface for C++ with minimal dependencies

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Visit www.raisim.com

A C++ platform to perform parallel computations of optimisation tasks (global and local) via the asynchronous generalized island model.

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The course text for MIT 6.832 (and 6.832x on edX)

C++ frame profiler

RoboGrammar: Graph Grammar for Terrain-Optimized Robot Design (SIGGRAPH Asia 2020)

inspiration

You like pytorch? You like micrograd? You love tinygrad! ❤️

Ghidra is a software reverse engineering (SRE) framework

A C++ Algorithmic Differentiation Package: Home Page

Source Code Generation for Automatic Differentiation using Operator Overloading

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With adaptive merging we reduce computation time in rigid body simulations.

Algorithmic Reverb VST Plugin

Modules for VCV Rack

Examples and demos for the new Vulkan API

ZynAddSubFX open source synthesizer

Trust Region Policy Optimization with TensorFlow and OpenAI Gym

A set of high-dimensional continuous control environments for use with Unity ML-Agents Toolkit.

Open-source code for VIPER -- Volume Invariant Position-based Elastic Rods

REDMAX: Efficient & Flexible Approach for Articulated Dynamics

Automatically exported from code.google.com/p/v-hacd

Author's implementation of SoftCon: Simulation and Control of Soft-Bodied Animals with Biomimetic Actuators (SIGGRAPH Asia 2019 Technical Paper)

Mitsuba 2: A Retargetable Forward and Inverse Renderer

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A collection of 100+ pre-trained RL agents using Stable Baselines, training and hyperparameter optimization included.

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OpenAI Baselines: high-quality implementations of reinforcement learning algorithms

pybullet_animations

The DeepMind Control Suite and Package

A static C++ library for the generation of discrete functions on a box-shaped domain. This is especially suited for the generation of signed distance fields.

SPlisHSPlasH is an open-source library for the physically-based simulation of fluids.