cuRobo

CUDA Accelerated Robot Library

Documentation | Paper

[!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 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.

C++ Runtime

Start with AGENTS.md for the Python-first integration workflow: validate the robot and motion quality, allocate collision caches, warm up once, and reuse solvers.

The cpp_runtime/ directory contains backend-neutral C++ APIs for robot kinematics, goalset inverse kinematics, paired-candidate time-optimal B-spline seed fitting, joint-space trajectory optimization with timestep refinement, paired-lane bidirectional RRT over IK solutions, composed joint-space motion planning, single-pose IK-to-RRT-to-TrajOpt planning, goalset grasp approach/insertion/lift, single-scene collision data, voxel sphere fitting, grasped-object attachment, and the block-sparse mapper. Python remains the source of truth for production cuRobo and Warp kernels, while C++-specific export glue lives under cpp_runtime/robot/kernels/. Generated architecture-specific artifacts are not committed.

Citation

If you found this work useful, please cite cuRoboV2-Fast,

@misc{curobo_v2_fast,
      title={cuRoboV2-Fast: Fast Torque-Limited Collision-Free Motion Planning},
      author={Balakumar Sundaralingam and Adithyavairavan Murali and Stan Birchfield},
      year={2026},
      eprint={2611.06913},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2611.06913}
}

Contributing

Contributions are welcome. Bugs: open an issue. General usage questions: GitHub Discussions. For pull requests, please read CONTRIBUTING.md. All commits must include a DCO sign-off (git commit -s).

License

cuRobo is released under the Apache 2.0 license.

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

Asset directory	License	Local license file
franka_description	Apache-2.0	LICENSE
g1	BSD-3-Clause	LICENSE
ur_description	BSD-3-Clause	LICENSE

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.

Dependency licenses and attributions are listed in THIRD_PARTY_NOTICES.md.

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