<!-- SPDX-FileCopyrightText: Copyright (c) 2023-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. -->
<!-- SPDX-License-Identifier: Apache-2.0 -->
# cuRobo

*CUDA Accelerated Robot Library*

**[Documentation](https://nvlabs.github.io/curobo) | [Paper](https://arxiv.org/abs/2603.05493)**

> [!NOTE]
> cuRoboV2 is a significant rewrite and the public API has changed from cuRobo v1.
> If you depend on the v1 API, pin to the [`v0.7.8`](https://github.com/NVlabs/curobo/tree/v0.7.8) tag.

cuRobo is a CUDA-accelerated library for robot motion generation, built on
PyTorch, CUDA, and Warp. It provides GPU-parallel algorithms for
forward/inverse kinematics, collision checking, trajectory optimization,
geometric planning, GPU-native perception, and whole-body motion generation,
scaling from single-arm manipulators to high-DoF humanoids.

Key capabilities:
- **Dynamics-aware trajectory optimization** with B-spline representation enforcing smoothness and torque limits
- **GPU-native ESDF perception** that generates dense signed distance fields from depth images, up to 10x faster than state-of-the-art
- **Scalable whole-body computation** including topology-aware kinematics, differentiable inverse dynamics, and map-reduce self-collision for high-DoF robots
- **Collision-free motion generation** combining IK, geometric planning, and trajectory optimization.

## Citation

If you found this work useful, please cite cuRoboV2,

```
@misc{curobo_v2,
      title={cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots},
      author={Balakumar Sundaralingam and Adithyavairavan Murali and Stan Birchfield},
      year={2026},
      eprint={2603.05493},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}
```

## Contributing

Contributions are welcome. Bugs: [open an issue](https://github.com/NVlabs/curobo/issues). General usage questions: [GitHub Discussions](https://github.com/NVlabs/curobo/discussions). For pull requests, please read [`CONTRIBUTING.md`](CONTRIBUTING.md). All commits must include a DCO sign-off (`git commit -s`).

## License

cuRobo is released under the [Apache 2.0 license](LICENSE).

The example robot assets bundled in this repository are provided under their respective licenses. See [LICENSE_ASSETS](LICENSE_ASSETS) for details.

## Third-Party Software

This project will download and install additional third-party open source software projects. Review the license terms of these open source projects before use.