Awesome Robotics

Awesome links, software libraries, papers, and other intersting links that are useful for robots.

Relevant Awesome Lists

• Kiloreaux/awesome-robotics - Learn about Robotics.
• Robotics Libraries - Another list of awesome robotics libraries.
• Robotics Coursework - A list of robotics courses you can take online
• Computer Vision
• Deep Learning - Neural networks.
  • TensorFlow - Library for machine intelligence.
  • Papers - The most cited deep learning papers.
• Deep Vision - Deep learning for computer vision
• Data Visualization - See what your robot is doing with any programming language.
• paperswithcode state of the art - List of state of the art results on various machine learning benchmarks.

Simulators

• CoppeliaSim - Create, Simulate, any Robot. (formerly named V-REP)
• Microsoft Airsim - Open source simulator based on Unreal Engine for autonomous vehicles from Microsoft AI & Research.
• Bullet Physics SDK - Real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc. Also see pybullet.

Visualization, Video, Display, and Rendering

• Pangolin - A lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.
• PlotJuggler - Quickly plot and re-plot data on the fly! Includes optional ROS integration.
• Data Visualization - A list of awesome data visualization tools.

Machine Learning

TensorFlow related

• Keras - Deep Learning library for Python. Convnets, recurrent neural networks, and more. Runs on TensorFlow or Theano.
• keras-contrib - Keras community contributions.
• TensorFlow - An open-source software library for Machine Intelligence.
• recurrentshop - Framework for building complex recurrent neural networks with Keras.
• tensorpack - Neural Network Toolbox on TensorFlow.
• tensorlayer - Deep Learning and Reinforcement Learning Library for Researchers and Engineers.
• TensorFlow-Examples - TensorFlow Tutorial and Examples for beginners.
• hyperas - Keras + Hyperopt: A very simple wrapper for convenient hyperparameter optimization.
• elephas - Distributed Deep learning with Keras & Spark
• PipelineAI - End-to-End ML and AI Platform for Real-time Spark and Tensorflow Data Pipelines.
• sonnet - Google Deepmind APIs on top of TensorFlow.
• visipedia/tfrecords - Demonstrates the use of TensorFlow's TFRecord data format.

Image Segmentation

• tf-image-segmentation - Image Segmentation framework based on Tensorflow and TF-Slim library.
• Keras-FCN

Logging and Messaging

• spdlog - Super fast C++ logging library.
• lcm - Lightweight Communications and Marshalling, message passing and data marshalling for real-time systems where high-bandwidth and low latency are critical.

Tracking

• simtrack - A simulation-based framework for tracking.
• ar_track_alvar - AR tag tracking library for ROS.
• artoolkit5 - Augmented Reality Toolkit, which has excellent AR tag tracking software.

Robot Operating System (ROS)

• ROS - Main ROS website.
• ros2/design - Design documentation for ROS 2.0 effort.

Kinematics, Dynamics, Constrained Optimization

• jrl-umi3218/Tasks - Tasks is library for real time control of robots and kinematic trees using constrained optimization.
• jrl-umi3218/RBDyn - RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.
• ceres-solver - Solve Non-linear Least Squares problems with bounds constraints and general unconstrained optimization problems. Used in production at Google since 2010.
• orocos_kinematics_dynamics - Orocos Kinematics and Dynamics C++ library.
• flexible-collsion-library - Performs three types of proximity queries on a pair of geometric models composed of triangles, integrated with ROS.
• robot_calibration - generic robot kinematics calibration for ROS
• ruckig - Real-time, time-optimal and jerk-constrained online trajectory generation.

Calibration

• handeye-calib-camodocal - generic robot hand-eye calibration.
• robot_calibration - generic robot kinematics calibration for ROS
• kalibr - camera and imu calibration for ROS

Reinforcement Learning

• "Good Robot!": Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer - A real robot completes multi-step tasks after <20k simulated actions. Good Robot on ArXiV (disclaimer: @ahundt is first author)
• TensorForce - A TensorFlow library for applied reinforcement learning
• gqcnn - Grasp Quality Convolutional Neural Networks (GQ-CNNs) for grasp planning using training datasets from the Dexterity Network (Dex-Net)
• Guided Policy Search - Guided policy search (gps) algorithm and LQG-based trajectory optimization, meant to help others understand, reuse, and build upon existing work.

Drivers for Sensors, Devices and Arms

• libfreenect2 - Open source drivers for the Kinect for Windows v2 and Xbox One devices.
• iai_kinect2 - Tools for using the Kinect One (Kinect v2) in ROS.
• grl - Generic Robotics Library: Cross platform drivers for Kuka iiwa and Atracsys FusionTrack with optional v-rep and ros drivers. Also has cross platform Hand Eye Calibration and Tool Tip Calibration.

Datasets

• CoSTAR Block Stacking Dataset - Robot stacking colored children's blocks (disclaimer: created by @ahundt)
• shapestacks - simulated stacks of colored children's objects
• pascal voc 2012 - The classic reference image segmentation dataset.
• openimages - Huge imagenet style dataset by Google.
• COCO - Objects with segmentation, keypoints, and links to many other external datasets.
• cocostuff - COCO additional full scene segmentation including backgrounds and annotator.
• Google Brain Robot Data - Robotics datasets including grasping, pushing, and pouring.
• Materials in Context - Materials Dataset with real world images in 23 categories.
• Dex-Net 2.0 - 6.7 million pairs of synthetic point clouds and grasps with robustness labels.

Dataset Collection

• LabelFusion - "A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes" code
• cocostuff - COCO additional full scene segmentation including backgrounds and annotator.

Linear Algebra & Geometry

• Eigen - Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
• Boost.QVM - Quaternions, Vectors, Matrices library for Boost.
• Boost.Geometry - Boost.Geometry contains instantiable geometry classes, but library users can also use their own.
• SpaceVecAlg - Implementation of spatial vector algebra for 3D geometry with the Eigen3 linear algebra library.
• Sophus - C++ implementation of Lie Groups which are for 3D Geometry, using Eigen.

Point Clouds

• libpointmatcher - An "Iterative Closest Point" library robotics and 2-D/3-D mapping.
• Point Cloud Library (pcl) - The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.

Simultaneous Localization and Mapping (SLAM)

• ElasticFusion - Real-time dense visual SLAM system.
• co-fusion - Real-time Segmentation, Tracking and Fusion of Multiple Objects. Extends ElasticFusion.
• Google Cartographer - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
• OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
• ORB_SLAM2 - Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities.

License

This work is licensed under a Creative Commons Attribution 4.0 International License.