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Robotics & Embodied AI Simulation

Simulation platforms for robotics and embodied AI, providing physics engines, renderers, and Pythonic APIs to build environments, generate synthetic data, and test control and perception policies.

48 projects

See methodology for ranking rules; order uses public GitHub metrics within this scenario.

21–40 of 48

Rank Project Stars Forks
21 PAROL6-Desktop-robot-arm

BOM, STL files and instructions for PAROL6 3D printed robot arm

3.2K 367
22 ViZDoom

Reinforcement Learning environments based on the 1993 game Doom :godmode:

2.1K 449
23 symforce

Fast symbolic computation, code generation, and nonlinear optimization for robotics

1.6K 177
24 MASt3R-SLAM

[CVPR 2025] MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors

3.2K 375
25 dreamzero

Code to pretrain, fine-tune, and evaluate DreamZero and run sim & real-world evals

2.6K 229
26 alpamayo

NVIDIA Alpamayo 1 Nano is an open 10B reasoning VLA model for autonomous vehicles that pairs driving trajectories with Chain-of-Causation reasoning.

2.0K 337
27 manif

A small C++11 header-only library for Lie theory.

1.8K 274
28 lingbot-va

[RSS 2026] Causal video-action world model for generalist robot control

1.8K 164
29 ros-mcp-server

Connect AI models like Claude & GPT with robots using MCP and ROS.

1.4K 208
30 ai2thor

An open-source platform for Visual AI.

1.8K 298
31 ASAP

[RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"

2.1K 196
32 alpasim

AlpaSim is an open-source autonomous vehicle simulation platform designed for development and testing of end-to-end AV policies

1.2K 152
33 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.

1.6K 178
34 PBHC

Official Implementation of "KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills"

1.1K 141
35 transfuser

[PAMI'23] TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving; [CVPR'21] Multi-Modal Fusion Transformer for End-to-End Autonomous Driving

1.6K 244
36 SimplerEnv

Evaluating and reproducing real-world robot manipulation policies (e.g., RT-1, RT-1-X, Octo) in simulation under common setups (e.g., Google Robot, WidowX+Bridge) (CoRL 2024)

1.1K 198
37 humanoid-gym

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

2.1K 254
38 ASE

Adversarial skill embeddings for training reusable controllers for physically simulated characters.

1.1K 152
39 DriveLM

[ECCV 2024 Oral] DriveLM: Driving with Graph Visual Question Answering

1.3K 88
40 simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles

2.5K 790
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