Robotic Simulation Frameworks

Tools and environments for simulating robotic systems with physics engines, sensor simulation, and control integration (ROS, Gazebo, Unity, AirSim). Includes drone racing simulators, underwater robotics, and robot navigation stacks. Does NOT include real robot hardware, general game engines, or non-robotics simulations.

There are 56 robotic simulation frameworks tracked. 1 score above 70 (verified tier). The highest-rated is microsoft/AirSim at 70/100 with 18,015 stars and 4,700 monthly downloads.

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#	Framework	Score	Tier	Stars	Language
1	microsoft/AirSim Open source simulator for autonomous vehicles built on Unreal Engine /...	70	Verified	18,015	C++
2	learn-to-race/l2r Open-source reinforcement learning environment for autonomous racing —...	45	Emerging	174	Python
3	lgsvl/simulator A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles	44	Emerging	2,430	C#
4	DeepTecher/AutonomousVehiclePaper 无人驾驶相关论文速递	43	Emerging	494	—
5	microsoft/AirSim-NeurIPS2019-Drone-Racing Drone Racing @ NeurIPS 2019, built on Microsoft AirSim	43	Emerging	388	Python
6	salesforce/warp-drive Extremely Fast End-to-End Deep Multi-Agent Reinforcement Learning Framework...	40	Emerging	500	Python
7	uzh-rpg/sim2real_drone_racing A Framework for Zero-Shot Sim2Real Drone Racing	38	Emerging	108	C++
8	aimarket/awesome-autonomous-drone-racing Curated resources for autonomous drone racing: AI Grand Prix, A2RL, RL...	38	Emerging	66	—
9	Shuijing725/CrowdNav_HEIGHT [T-ASE 2026] "HEIGHT: Heterogeneous Interaction Graph Transformer for Robot...	37	Emerging	92	Python
10	google-research/ibc Official implementation of Implicit Behavioral Cloning, as described in our...	35	Emerging	374	Python
11	decisionforce/EGPO [CoRL 2021] Official implementation of paper "Safe Driving via Expert Guided...	34	Emerging	52	Python
12	Arena-Rosnav/rosnav-rl RosNav-RL is a modular DRL framework for ROS 2 with a pluggable...	33	Emerging	77	Python
13	Ohara124c41/Hunter-UA-Drone This project is provides specifications and strategies for the development...	33	Emerging	35	Java
14	MCZhi/DIPP [TNNLS] Differentiable Integrated Prediction and Planning Framework for...	33	Emerging	282	Python
15	ShengranHu/Thought-Cloning [NeurIPS '23 Spotlight] Thought Cloning: Learning to Think while Acting by...	33	Emerging	268	Python
16	Mayankm96/airsim_ros_client ROS Wrapper in Python for Microsoft AirSim	33	Emerging	37	Python
17	AlirezaShamsoshoara/Imitation-Learning-Behavioral-Cloning-UAV-Assisted-Communication An Autonomous UAV Assisted Communication in Remote Disaster Area using...	31	Emerging	21	Python
18	wheelbot/Mini-Wheelbot The Mini Wheelbot is a balancing, reaction wheel unicycle robot designed as...	31	Emerging	33	C
19	SSubhnil/RacingCARLA Learning Model Predictive Control (LMPC) for autonomous racing in CARLA 3D...	31	Emerging	23	Python
20	ucsdarclab/diffco differentiable proxy collision checking for robot trajectory optimization.	30	Emerging	51	Jupyter Notebook
21	gustavomoers/E2E-CARLA-ReinforcementLearning-PPO An end-to-end (E2E) reinforcement learning model for autonomous vehicle...	29	Experimental	41	Python
22	CPS-TUWien/racing_dreamer Latent Imagination Facilitates Zero-Shot Transfer in Autonomous Racing	27	Experimental	89	Python
23	simone-contorno/mobile_robot_ai A Python-based ROS2 simulation using Nav2 to operate a unicycle robot in a...	26	Experimental	4	Python
24	Mayankm96/airsim_img_publisher ROS Wrapper in C++ for Microsoft AirSim	26	Experimental	11	C++
25	SMARTlab-Purdue/SAN-NaviSTAR This repository contains the source code for our paper: "NaviSTAR: Socially...	26	Experimental	62	Python
26	UniBwTAS/CollisionPro Towards explainable value functions in reinforcement learning. A framework...	26	Experimental	14	Python
27	ANI717/ANI717-Robotics Contains ROS2 packages to run robot car to collect annotated camera images...	26	Experimental	5	Roff
28	kevinzakka/ibc A PyTorch implementation of Implicit Behavioral Cloning	26	Experimental	114	Python
29	automatika-robotics/kompass Kompass is an event-driven navigation stack designed with an easy-to-use...	26	Experimental	36	Python
30	zhang-zengjie/dl-vehicle-mpc Using deep learning to predict the motion of a MPC-controlled vehicle	25	Experimental	13	MATLAB
31	gustavomoers/CollisionAvoidance-Carla-DRL-MPC A hybrid collision avoidance system combining Deep Reinforcement Learning...	25	Experimental	58	Python
32	Pranav-chib/End-to-End-Autonomous-Driving A collection of recent resources on End-to-End Autonomous Driving [survey...	24	Experimental	242	—
33	juanin9898/awesome-autonomous-drone-racing 🌟 Discover resources for autonomous drone racing, from competitions to...	23	Experimental	1	—
34	sisterly-neck577/IsaacSim 🤖 Develop, test, and deploy AI-powered robot simulations in realistic...	23	Experimental	1	Python
35	sossossal/AGI-Walker Open-source Sim-to-Real robot development platform with custom RISC-V NPU....	23	Experimental	1	Python
36	abdoyouseef/Grade 🌍 Generate realistic, dynamic environments for robotics research using Isaac...	23	Experimental	1	Python
37	AIcrowd/flatland-challenge-starter-kit ⚠️ NOTICE: This starter kit was used for 2019 challenge and has been...	23	Experimental	20	Python
38	slimx-ai/ROS2-DRL-Turtlebot3-like-LIDAR-Robot A ROS2-based framework for TurtleBot3-like DRL autonomous navigation	21	Experimental	26	Makefile
39	stalhabukhari/comp-sdf-dyn-nav Code for ICRA'25 paper: "Differentiable Composite Neural Signed Distance...	21	Experimental	10	Python
40	Shuijing725/CrowdNav_Sim2Real_Turtlebot [ICRA 2023] Intention Aware Robot Crowd Navigation with Attention-Based...	20	Experimental	64	Python
41	TeamDman/Vehicular-Game-Theory Code for my Master's thesis, game theory for adversarial autonomous vehicle...	20	Experimental	14	Jupyter Notebook
42	nimiCurtis/pilot_bc Pilot Behavior Cloning: An imitation learning method for learning tracking...	20	Experimental	19	Python
43	Davidwarchy/the-self-grounded-agent A tiny two-wheel robot with a 100-ray lidar learns objecthood from pure...	19	Experimental	—	Jupyter Notebook
44	GonVas/CarlaFinal Carla Multi Agent Deep Reinforcement Learning	18	Experimental	22	Python
45	Amethist890/ros2-humble-docker-ml-robotics-nav2-fastapi 🤖 Set up a GPU-accelerated ROS 2 development environment with FastAPI for...	15	Experimental	1	Python
46	gbr1/edgeimpulse_ros ROS2 wrapper for Edge Impulse	14	Experimental	10	Python
47	Nisado29/Aerial-Robotics-Competition 🚁 Develop innovative aerial robotics solutions for competitions, focusing on...	14	Experimental	—	C++
48	d3nny-sf/3p0ch 3p0ch v0.1 - AI-autonomous combat robot \| Jetson + YOLOv8 + MinIO \| Build...	14	Experimental	—	HTML
49	Kupotanis/wro2025-future-engineers-robot 🤖 Build an innovative robot for WRO 2025, enhancing engineering skills and...	14	Experimental	—	—
50	PatzEdi/RobotDockCenter Automate docking of robots into their charging stations using machine learning.	13	Experimental	2	GDScript
51	mschaecke/AutonomousRGBDCamera An autonomous RGB-D camera for robot vision training. It creates and...	13	Experimental	5	C++
52	elymsyr/auv_ws An open-source simulation and control workspace for an Autonomous Underwater...	13	Experimental	2	C++
53	HU-ICT-LAB/RobotWars Robomaster S1 autonomous lasergaming for HU	12	Experimental	12	Python
54	AhmetFurkanDEMIR/CARLA-Simulator CARLA, açık kaynaklı bir otonom sürüş simülatörüdür.	12	Experimental	27	—
55	joaoavanzini/self-balancing Self-Balancing Robot	10	Experimental	1	Jupyter Notebook
56	mschaecke/Bridge-For-AutonomousRGBDCamera An Unreal Engine to ROS bridge for AutonomousRGBDCamera. Both RGB-D and...	10	Experimental	1	C++

Comparisons in this category

AirSim and simulator (70 vs 44) AirSim and AirSim-NeurIPS2019-Drone-Racing (70 vs 43) AirSim and airsim_ros_client (70 vs 33)