Hardware Platform
High-performance Computing Units
- CPU: Intel Xeon / AMD EPYC
- GPU: NVIDIA A100/H100
- AI Chips: Google TPU
Edge Computing Devices
- NVIDIA Jetson series: Orin NX/AGX, 15-275 TOPS
- Intel NUC
- Qualcomm RB5
Perception Sensors
- Vision: RGB cameras, depth cameras, event cameras
- Environment perception: LiDAR, ultrasonic sensors
- Proprioception: IMU, force/torque sensors
Actuators
- Servo motors, stepper motors, direct-drive motors
- Control interfaces: CAN, EtherCAT, RS485
Simulation Platforms
PyBullet
- Lightweight, pure Python implementation
- Physics engine: Bullet
Gazebo/ROS 2
- Client-server mode
- Native ROS 2 support
NVIDIA Isaac Gym
GPU-accelerated robot simulation platform, specialized for reinforcement learning training.
Habitat
Facebook developed, indoor visual navigation task simulation.
Open X-Embodiment
1M+ robot trajectories, 22 robot types, 500+ tasks.
Algorithm Frameworks
Deep Learning
- TensorFlow
- PyTorch
Reinforcement Learning
- Stable Baselines3
- RLlib
Cutting-edge Methods
- Diffusion Policies
- Decision Transformer
- PEFT: LoRA, etc.
- OpenVLA: Vision-Language-Action model
Optimization Control
- MuJoCo MPC
- DiffROS