CUDA Accelerated Robot Library
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. It provides GPU-parallel algorithms for forward/inverse kinematics, collision checking, trajectory optimization, geometric planning, and 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.
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}
}
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).
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.
This project will download and install additional third-party open source software projects. Review the license terms of these open source projects before use.