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 58 robotic simulation frameworks tracked. 4 score above 50 (established tier). The highest-rated is microsoft/AirSim at 62/100 with 18,015 stars.

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#	Framework	Score	Tier	Stars	Language
1	microsoft/AirSim Open source simulator for autonomous vehicles built on Unreal Engine /...	62	Established	18,015	C++
2	lgsvl/simulator A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles	51	Established	2,430	C#
3	microsoft/AirSim-NeurIPS2019-Drone-Racing Drone Racing @ NeurIPS 2019, built on Microsoft AirSim	50	Established	388	Python
4	DeepTecher/AutonomousVehiclePaper 无人驾驶相关论文速递	50	Established	494	—
5	learn-to-race/l2r Open-source reinforcement learning environment for autonomous racing —...	49	Emerging	174	Python
6	salesforce/warp-drive Extremely Fast End-to-End Deep Multi-Agent Reinforcement Learning Framework...	47	Emerging	500	Python
7	uzh-rpg/sim2real_drone_racing A Framework for Zero-Shot Sim2Real Drone Racing	45	Emerging	108	C++
8	Shuijing725/CrowdNav_HEIGHT [T-ASE 2026] "HEIGHT: Heterogeneous Interaction Graph Transformer for Robot...	44	Emerging	92	Python
9	google-research/ibc Official implementation of Implicit Behavioral Cloning, as described in our...	42	Emerging	374	Python
10	decisionforce/EGPO [CoRL 2021] Official implementation of paper "Safe Driving via Expert Guided...	41	Emerging	52	Python
11	MCZhi/DIPP [TNNLS] Differentiable Integrated Prediction and Planning Framework for...	40	Emerging	282	Python
12	Mayankm96/airsim_ros_client ROS Wrapper in Python for Microsoft AirSim	40	Emerging	37	Python
13	aimarket/awesome-autonomous-drone-racing Curated resources for autonomous drone racing: AI Grand Prix, A2RL, RL...	40	Emerging	66	—
14	ShengranHu/Thought-Cloning [NeurIPS '23 Spotlight] Thought Cloning: Learning to Think while Acting by...	40	Emerging	268	Python
15	Ohara124c41/Hunter-UA-Drone This project is provides specifications and strategies for the development...	40	Emerging	35	Java
16	SSubhnil/RacingCARLA Learning Model Predictive Control (LMPC) for autonomous racing in CARLA 3D...	38	Emerging	23	Python
17	AlirezaShamsoshoara/Imitation-Learning-Behavioral-Cloning-UAV-Assisted-Communication An Autonomous UAV Assisted Communication in Remote Disaster Area using...	38	Emerging	21	Python
18	wheelbot/Mini-Wheelbot The Mini Wheelbot is a balancing, reaction wheel unicycle robot designed as...	38	Emerging	33	C
19	ucsdarclab/diffco differentiable proxy collision checking for robot trajectory optimization.	37	Emerging	51	Jupyter Notebook
20	Arena-Rosnav/rosnav-rl RosNav-RL is a modular DRL framework for ROS 2 with a pluggable...	37	Emerging	77	Python
21	gustavomoers/E2E-CARLA-ReinforcementLearning-PPO An end-to-end (E2E) reinforcement learning model for autonomous vehicle...	36	Emerging	41	Python
22	CPS-TUWien/racing_dreamer Latent Imagination Facilitates Zero-Shot Transfer in Autonomous Racing	34	Emerging	89	Python
23	Mayankm96/airsim_img_publisher ROS Wrapper in C++ for Microsoft AirSim	33	Emerging	11	C++
24	automatika-robotics/kompass Kompass is an event-driven navigation stack designed with an easy-to-use...	33	Emerging	36	Python
25	simone-contorno/mobile_robot_ai A Python-based ROS2 simulation using Nav2 to operate a unicycle robot in a...	33	Emerging	4	Python
26	kevinzakka/ibc A PyTorch implementation of Implicit Behavioral Cloning	33	Emerging	114	Python
27	SMARTlab-Purdue/SAN-NaviSTAR This repository contains the source code for our paper: "NaviSTAR: Socially...	33	Emerging	62	Python
28	ANI717/ANI717-Robotics Contains ROS2 packages to run robot car to collect annotated camera images...	33	Emerging	5	Roff
29	UniBwTAS/CollisionPro Towards explainable value functions in reinforcement learning. A framework...	33	Emerging	14	Python
30	zhang-zengjie/dl-vehicle-mpc Using deep learning to predict the motion of a MPC-controlled vehicle	32	Emerging	13	MATLAB
31	gustavomoers/CollisionAvoidance-Carla-DRL-MPC A hybrid collision avoidance system combining Deep Reinforcement Learning...	32	Emerging	58	Python
32	Pranav-chib/End-to-End-Autonomous-Driving A collection of recent resources on End-to-End Autonomous Driving [survey...	31	Emerging	242	—
33	AIcrowd/flatland-challenge-starter-kit ⚠️ NOTICE: This starter kit was used for 2019 challenge and has been...	30	Emerging	20	Python
34	stalhabukhari/comp-sdf-dyn-nav Code for ICRA'25 paper: "Differentiable Composite Neural Signed Distance...	28	Experimental	10	Python
35	slimx-ai/ROS2-DRL-Turtlebot3-like-LIDAR-Robot A ROS2-based framework for TurtleBot3-like DRL autonomous navigation	28	Experimental	26	Makefile
36	nimiCurtis/pilot_bc Pilot Behavior Cloning: An imitation learning method for learning tracking...	27	Experimental	19	Python
37	TeamDman/Vehicular-Game-Theory Code for my Master's thesis, game theory for adversarial autonomous vehicle...	27	Experimental	14	Jupyter Notebook
38	abdoyouseef/Grade 🌍 Generate realistic, dynamic environments for robotics research using Isaac...	27	Experimental	1	Python
39	Shuijing725/CrowdNav_Sim2Real_Turtlebot [ICRA 2023] Intention Aware Robot Crowd Navigation with Attention-Based...	27	Experimental	64	Python
40	juanin9898/awesome-autonomous-drone-racing 🌟 Discover resources for autonomous drone racing, from competitions to...	27	Experimental	1	—
41	GonVas/CarlaFinal Carla Multi Agent Deep Reinforcement Learning	25	Experimental	22	Python
42	sossossal/AGI-Walker Open-source Sim-to-Real robot development platform with custom RISC-V NPU....	25	Experimental	1	Python
43	sisterly-neck577/IsaacSim 🤖 Develop, test, and deploy AI-powered robot simulations in realistic...	23	Experimental	1	Python
44	Davidwarchy/the-self-grounded-agent A tiny two-wheel robot with a 100-ray lidar learns objecthood from pure...	21	Experimental	—	Jupyter Notebook
45	gbr1/edgeimpulse_ros ROS2 wrapper for Edge Impulse	21	Experimental	10	Python
46	PatzEdi/RobotDockCenter Automate docking of robots into their charging stations using machine learning.	20	Experimental	2	GDScript
47	HU-ICT-LAB/RobotWars Robomaster S1 autonomous lasergaming for HU	19	Experimental	12	Python
48	AhmetFurkanDEMIR/CARLA-Simulator CARLA, açık kaynaklı bir otonom sürüş simülatörüdür.	19	Experimental	27	—
49	Amethist890/ros2-humble-docker-ml-robotics-nav2-fastapi 🤖 Set up a GPU-accelerated ROS 2 development environment with FastAPI for...	19	Experimental	1	Python
50	elymsyr/auv_ws An open-source simulation and control workspace for an Autonomous Underwater...	19	Experimental	2	C++
51	joaoavanzini/self-balancing Self-Balancing Robot	17	Experimental	1	Jupyter Notebook
52	d3nny-sf/3p0ch 3p0ch v0.1 - AI-autonomous combat robot \| Jetson + YOLOv8 + MinIO \| Build...	14	Experimental	—	HTML
53	Kupotanis/wro2025-future-engineers-robot 🤖 Build an innovative robot for WRO 2025, enhancing engineering skills and...	14	Experimental	—	—
54	Nisado29/Aerial-Robotics-Competition 🚁 Develop innovative aerial robotics solutions for competitions, focusing on...	13	Experimental	—	C++
55	mozturan/AutonomousDrive2D-DRL Autonomous Driving W/ Deep Reinforcement Learning in Lane Keeping - DDQN and...	13	Experimental	13	Jupyter Notebook
56	gaeldelalleau/robodrivers AI challenge for the ICON 2018 conference	11	Experimental	—	Rust
57	ValerioSpagnoli/.ros2config ROS 2 Run Commands	11	Experimental	1	—
58	kidier/A.I.-Racer---aoutonomous-racing-drone THis drone was made in science club AGH Drone engineering	11	Experimental	1	Kotlin

Comparisons in this category

AirSim and simulator (62 vs 51) AirSim and AirSim-NeurIPS2019-Drone-Racing (62 vs 50)