huggingface/lerobot
Real-robot learning framework from Hugging Face: ACT/Diffusion Policy/VLA algorithms out of the box, paired with low-cost hardware like SO-100 and a dataset ecosystem; the most active community in the field.
Open-X-Humanoid/TienKung-Lab
Tien Kung-Lab open training platform from the Beijing Humanoid Robot Innovation Center: Isaac Lab-based RL workflows for legged and whole-body control, ready to use from training to real-robot deployment.
leggedrobotics/legged_gym
RL training framework for legged robots built on Isaac Gym (paired with rsl_rl); the classic starting point for legged and whole-body-control Sim2Real research.
ros2/ros2
Robot Operating System 2 (middleware + toolchain + ecosystem standards); the de facto software standard for real robots and the runtime base for most embodied AI deployments.
OpenLoong/OpenLoong
Open-source full-stack humanoid robot platform (Qinglong robot), covering motion control, simulation training and full-system implementation; a flagship of China's humanoid open-source ecosystem.
unitreerobotics/unitree_rl_gym
Official Isaac Gym RL training examples from Unitree (Go2/H1/G1 whole-body control Sim2Real); the starting template for many quadruped and humanoid RL papers.
boston-dynamics/spot-sdk
Official Python client SDK for the Boston Dynamics Spot quadruped (API/examples/simulation); the de facto entry point for industrial quadruped development.
LejuRobotics/kuavo-ros-opensource
Full-stack open source for the Leju 'Kuavo' full-size humanoid (Kuavo OS): motion control, gait planning, RL policies and ROS interfaces, with a data-challenge and learning-toolchain ecosystem.
engineai-robotics/engineai_legged_gym
Official RL training repo from EngineAI (Isaac Gym legged/humanoid locomotion), Sim2Real onto the PM01 and other robots.
BoosterRobotics/booster_gym
Official RL training framework from Booster Robotics: full-pipeline locomotion training for the T1 humanoid (Isaac), deployable straight to the real robot.
Booster RoboticsFrameworkslimxdynamics/tron1-rl-isaacgym
Official RL environments for the LimX Dynamics TRON1 biped (Isaac Gym/Isaac Lab), with a full MuJoCo/ONNX/ROS-ROS2 deployment toolchain.
FFTAI/Wiki-GRx-Deploy
Open-source development suite for Fourier GRx humanoids: real-robot deployment, RL training (Gym), Gazebo/MuJoCo simulation and full robot models, built on the RoCS control system.
ANYbotics/grid_map
Universal grid-map library from ANYbotics: the standard terrain-mapping component for mobile and legged robotics, widely relied on by navigation and mapping ecosystems.
ANYbotics/elevation_mapping
Robot-centric elevation mapping from ANYbotics: the standard perception component for rough-terrain navigation and a core of the ANYmal ecosystem.
rai-opensource/spot_ros2
Official ROS 2 driver for the Boston Dynamics Spot quadruped (open-sourced and maintained by Boston Dynamics AI Institute / RAI Institute), with API integration and simulation support.