Robot Kinematics ML ML Frameworks

Machine learning approaches to solving inverse and forward kinematics for robotic arms and manipulators. Includes neural network-based IK solvers, learning-based control from visual input, and kinematic optimization. Does NOT include general robotics simulation, gripper design, or non-kinematics robotic manipulation tasks.

There are 46 robot kinematics ml frameworks tracked. 5 score above 50 (established tier). The highest-rated is enactic/openarm at 63/100 with 1,907 stars. 1 of the top 10 are actively maintained.

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#	Framework	Score	Tier	Stars	Language
1	enactic/openarm A fully open-source humanoid arm for physical AI research and deployment in...	63	Established	1,907	MDX
2	Shuijing725/awesome-robot-social-navigation A curated list of robot social navigation.	52	Established	392	—
3	thomashiemstra/fred This my 3d printed robot arm project	52	Established	109	Python
4	jstmn/ikflow Open source implementation to the paper "IKFlow: Generating Diverse Inverse...	51	Established	90	Python
5	sizhe-li/neural-jacobian-field Controlling diverse robots by inferring jacobian fields with deep networks!...	50	Established	203	Jupyter Notebook
6	TimSchneider42/tactile-mnist The Tactile-MNIST Active Perception Benchmark	46	Emerging	13	Python
7	manfreddiaz/awesome-autonomous-vehicles Curated List of Self-Driving Cars and Autonomous Vehicles Resources	43	Emerging	2,354	—
8	robertorobotics/Nextis-AIRA-3D Open-source 7DoF 3D-printable robotic arm with LeRobot integration.	43	Emerging	158	Python
9	pathak22/modular-assemblies [NeurIPS 2019] Code for the paper "Learning to Control Self-Assembling...	41	Emerging	117	Python
10	andyzeng/ikfastpy Python wrapper over OpenRave's IKFast inverse kinematics solver for a UR5 robot arm.	41	Emerging	256	C++
11	ivy-llc/robot Functions and classes for gradient-based robot motion planning, written in Ivy.	41	Emerging	50	Python
12	etriantafyllidis/ROMAN The RObotic MAnipulation Network	40	Emerging	40	C#
13	udesa-ai/balancio-kit Balacio-Kit: Robot de autobalanceo de ultra bajo costo, capaz de correr una...	40	Emerging	29	C
14	TAMS-Group/bio_ik_service ROS service for calling BioIK from Python or Java	40	Emerging	9	C++
15	0aqz0/neural-retargeting Code for the paper "Kinematic Motion Retargeting via Neural Latent...	37	Emerging	44	Python
16	ansh1113/terrain-aware-locomotion Terrain-aware locomotion pipeline for quadruped robots - 95% navigation...	37	Emerging	8	Python
17	mpmumau/Peabot-Library Peabot: quadruped robot library for Raspberry Pi	37	Emerging	20	C
18	nikhilxb/ncap-swimmer "Neural Circuit Architectural Priors for Embodied Control" (NeurIPS 2022)	35	Emerging	13	Python
19	opendilab/awesome-driving-behavior-prediction A collection of research papers for Driving Behavior Prediction	33	Emerging	82	—
20	KanishkNavale/AI-for-Robot-Tasks This repository implements the use of AI for robot tasks.	32	Emerging	15	Python
21	YavarYeganeh/Deep_AIF Deep Active Inference (Deep AIF) Agents	30	Emerging	7	Python
22	Shaswat2001/INN_Continuum_Robot Repository for "Inverse Kinematics of Tendon Driven Continuum Robots using...	30	Emerging	26	C++
23	ago109/active-neural-generative-coding Implementation/simulation of active neural generative coding (ANGC) for...	30	Emerging	22	Python
24	pkicki/cnp-b Neural network-based constrained kinodynamic motion planner	29	Experimental	36	Python
25	citbrains/GankenKun_webots Control of humanoid robots on webots, walking, deep-learning, Bayesian-optimization	29	Experimental	18	C
26	haritsahm/sepakbola-humanoid-learning-path A curated list of references for Indonesian students interested in the...	28	Experimental	10	—
27	StevenRice99/Fusion-IK Fusion IK: Solving Inverse Kinematics using a Hybridized Deep Learning and...	28	Experimental	2	C#
28	lukaskapp/InverseRigMapping Inverse Rig Mapping is a toolset for Maya to map skeletal animation data...	26	Experimental	24	Python
29	rolyatmax/rota Routing with reinforcement learning	26	Experimental	10	JavaScript
30	MyoHub/myochallenge_2023eval MyoChallenge 23 -- Towards Human-Level Dexterity and Agility	25	Experimental	26	Python
31	alaliqing/AlphaAD 🚗 Automatically curated collection of the latest autonomous driving research...	25	Experimental	6	Python
32	NACLab/self-revising-active-inference Official Implementation for the paper "SR-AIF: Solving Sparse-Reward Robotic...	24	Experimental	64	Python
33	krychu/bdh An educational implementation of the Dragon Hatchling (BDH), applied to a...	24	Experimental	9	Python
34	EbonGit/ML_Robot Repository for the project ML_Robot, a quadruped robot for the...	22	Experimental	2	C#
35	hatopopvr/MyPPSimulator [BeatSaber][ScoreSaber] Simulation tool for your ScoreSaber's Total PP.	22	Experimental	6	Jupyter Notebook
36	Zer0pa/ZPE-Robotics ZPE-Robotics V0.0: DETERMINISTIC MOTION KERNEL: Wire-V1 Transport \| Replay \|...	22	Experimental	—	Python
37	krychu/hrm Implementation of the Hierarchical Reasoning Model (HRM), applied to a...	22	Experimental	31	Python
38	msramada/Active-Learning-Reinforcement-Learning This code can be used to reproduce the results in our paper ``Actively...	20	Experimental	5	Jupyter Notebook
39	matlab-deep-learning/pretrained-dlCHOMP Pretrained networks for Deep-Learning-Based Covariant Hamiltonian...	20	Experimental	7	MATLAB
40	George614/neural_active_inference Official implementation of paper "A neural active inference model of...	20	Experimental	7	Python
41	PietroVitiello/ActionRepresentation MSc Project aimed at finding an alternative way of representing robot...	19	Experimental	13	Python
42	Humanoid-Teleoperation/humanoid-teleoperation.github.io webpage for the humanoid robot teleoperation survey paper.	17	Experimental	1	JavaScript
43	Arvin-Mohammadi/Delta-Robot-Trajectory-Planning-V3 This repository is dedicated to studying the different trajectory planning...	15	Experimental	14	Python
44	zamazincode/auto-rigging Auto Rigging System for 3D Models	14	Experimental	—	Jupyter Notebook
45	Zlia1123/agibot-world-challenge-2026 Embodied AI Robotics Challenge @ ICRA 2026	14	Experimental	—	Python
46	gregora/Robot-Arm-AI A project for training a neural network to control a robotic arm	12	Experimental	1	C++