Useful Resources and Links

Recommended Simulators

You are encouraged to use the simplest possible simulator to accomplish the task you are interested in. You can submit links to simulators not included here by opening a github issue.

Simulately	A detailed wiki comparing various widely-used robotics simulators. Read this first. The rest of this table shows simulators and environments not mentioned by Simulately.
Isaac Lab (formerly Isaac Orbit / Isaac Gym)	Layer of abstraction and tools to make using Isaac Sim easier.
Drake Simulator	A framework of simulation, analysis and control tools for robotics.
Deepmind Control Suite	Set of robotics environments on top of Mujoco.
Mujoco Menagerie	High-quality description files and assets for robots, built on top of Mujoco.
OpenAI Gym	Atari, Mujoco, classic control, and third-party environments for RL.
RoboSuite	Robotics simulation environments on top of Mujoco. Also a benchmark.
Klampt	Modeling, simulating, planning, and optimization for complex robots, particularly for manipulation and locomotion tasks.
DART	Physics simulator for robotics and animation.
CARLA	Self-driving environment and benchmarks on top of the Unreal simulation engine.
AirSim	Robotics simulation environments for flying and driving, built on top of Unreal engine.
gym-pybullet-drones	Robotics simulation environments and tools for quadrotors on top of PyBullet.
Habitat 3.0	Simulation of indoor scenes, humans, and robots. Good for visual navigation and social navigation tasks.
GPUDrive	GPU-accelerated multi-agent driving simulator.
ProcGen	Procedurally generated simulation environments (not robotics, but useful).
RaiSim	Rigid body physics engine. Supports biomechanics of human motion, as well as quadrupeds.
Flightmare	Simulation environment for flying vehicles built on top of the Unity simulation engine.
IKEA Furniture Assembly	IKEA furniture assembly environment.
FurnitureBench	Simulators, datasets, and real environments for furniture assembly
RLBench	Simulation environments for manipulation, built on top of the CoppeliaSim simulator.
ALFRED	Simulation environments for visual and language-based navigation and manipulation tasks.
MyoSuite	Muscosceletal simulation environments for biomechanics, based on Mujoco.
MetaWorld	Multi-task RL environments and benchmarks.
Bimanual Manipulation Gym	Bimanual manipulation environments

Recommended datasets

Simulately	A detailed wiki comparing various widely-used robotics datasets. Read this first. The rest of this table shows datasets not mentioned by Simulately.
D4RL	Manipulation and navigation datasets for offline RL
RoboMimic	Manipulation datasets and imitation learning algorithms
MimicGen	Automatic augmentation of manipulation datasets starting from human demonstrations
Optimus	Automatically generating long-horizon manipulation dataset from Task and Motion Planners.
DROID	Manipulation dataset across various labs and robots
D4RL	Manipulation and navigation datasets for offline RL

Recommended RL, IL, trajectory optimization, and motion planning libraries

Simulately	A detailed wiki comparing various widely-used RL libaries. Read this first. The rest of this table shows libraries not mentioned by Simulately.
RSL RL	RL library used for training quadrupeds at the RSL lab at ETHZ. Used in Isaac Lab.
STORM	MPC motion planner on the GPU
OMPL	Open motion planning library
Mink	Inverse kinematics library, built on top of pink and pinocchio
PureJaxRL	RL library in JAX, with training and environments running fully on GPU
CleanRL	Clean implementations of Online RL baselines
Clean Offline RL	Clean implementations of Offline RL baselines
rliable	Method and library for reliable evaluation of RL algorithms
Diffusion policy	Implementation of diffusion policy in action space for imitation learning
Implicit behavior cloning	Implementation of behavior cloning with energy based models
Theseus	A library for differentiable nonlinear optimization in Pytorch
Model-based RL algorithms	List of model-based RL algorithms