dora-rs
/
dora
Not watched
1
0
Fork 0
Code
Releases 124 Wiki evaluate Activity
Issues 0 Pull Requests 0 Datasets Model Cloudbrain HPC
Browse Source

Refactor readme

tags/test-git
haixuantao 10 months ago
parent
1fa2c632bc
commit
c92d0873fe
1 changed files with 139 additions and 133 deletions
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. +139
    -133
      README.md

+ 139
- 133
README.md View File

@@ -34,7 +34,11 @@
<a href="https://trendshift.io/repositories/9190" target="_blank"><img src="https://trendshift.io/api/badge/repositories/9190" alt="dora-rs%2Fdora | Trendshift" style="width: 250px; height: 55px;" width="250" height="55"/></a>
</div>

An extremely fast and simple **dataflow oriented robotic** framework to manage your projects and run realtime multi-AI and multi-hardware **applications**, written in Rust.
## Highlights

- 🚀 dora-rs is a framework to run realtime multi-AI and multi-hardware applications.
- 🦀 dora-rs internals are 100% Rust making it extremely fast compared to alternative such as being ⚡️ [10-17x faster](https://github.com/dora-rs/dora-benchmark) than `ros2`.
- ❇️ Includes a large set of pre-packaged nodes for fast prototyping which simplifies integration of hardware, algorithms, and AI models.

<p align="center">
<picture align="center">
@@ -55,154 +59,160 @@ An extremely fast and simple **dataflow oriented robotic** framework to manage y
<details open>
<summary><b>2025</b></summary>

- \[2025/03/05\] dora-rs has been accepted to [**GSoC 2025 🎉**](https://summerofcode.withgoogle.com/programs/2025/organizations/dora-rs-tb), with the following [**idea list**](https://github.com/dora-rs/dora/wiki/GSoC_2025).
- \[2025/03/04\] Add support for Zenoh for distributed dataflow.
- \[2025/03/04\] Add support for Meta SAM2, Kokoro(TTS), Improved Qwen2.5 Performance using `llama.cpp`.
- \[2025/02/25\] Add support for Qwen2.5(LLM), Qwen2.5-VL(VLM), outetts(TTS)
- \[03/05\] dora-rs has been accepted to [**GSoC 2025 🎉**](https://summerofcode.withgoogle.com/programs/2025/organizations/dora-rs-tb), with the following [**idea list**](https://github.com/dora-rs/dora/wiki/GSoC_2025).
- \[03/04\] Add support for Zenoh for distributed dataflow.
- \[03/04\] Add support for Meta SAM2, Kokoro(TTS), Improved Qwen2.5 Performance using `llama.cpp`.
- \[02/25\] Add support for Qwen2.5(LLM), Qwen2.5-VL(VLM), outetts(TTS)
</details>

## Highlights

- 🚀 A single CLI to run multiple AI models and hardware drivers in parallel.
- 🦀 dora-rs is 100% Rust project making it extremely fast compared to alternative, such as ⚡️ [10-17x faster](https://github.com/dora-rs/dora-benchmark) than `ros2`.
- ❇️ Includes a large set of pre-packaged nodes for fast prototyping and simplifies integration hardware, algorithms, and AI models to facilitate seamless communication.
## Support Matrix

| Support Matrix | dora-rs &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; |
| | dora-rs |
| --------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| **APIs** | Python >= 3.7 ✅ <br> Rust ✅<br> C/C++ 🆗 <br>ROS2 >= Foxy 🆗 |
| **OS** | Linux: Arm 32 ✅ Arm 64 ✅ x64_86 ✅ <br>MacOS: Arm 64 ✅ x64_86 ✅<br>Windows: x64_86 🆗<br> Android: 🛠️ (Blocked by: https://github.com/elast0ny/shared_memory/issues/32) <br> IOS: 🛠️ |
| **Message Format** | Arrow ✅ <br> Standard Specification 🛠️ |
| **Local Communication** | Shared Memory ✅ <br> [Cuda zero-copy IPC](https://arrow.apache.org/docs/python/api/cuda.html) 📐 |
| **Local Communication** | Shared Memory ✅ <br> [Cuda IPC](https://arrow.apache.org/docs/python/api/cuda.html) 📐 |
| **Remote Communication** | [Zenoh](https://zenoh.io/) 📐 |
| **Metrics, Tracing, and Logging** | Opentelemetry 📐 |
| **Configuration** | YAML ✅ |
| **Package Manager** | [pip](https://pypi.org/): Python Node ✅ Rust Node ✅ C/C++ Node 🛠️ <br>[cargo](https://crates.io/): Rust Node ✅ |

> - ✅ = First Class Support
> - 🆗 = Downlevel/Best Effort Support
> - 📐 = Experimental
> - 🛠️ = Unsupported, though open to contributions
> - 🆗 = Best Effort Support
> - 📐 = Experimental and looking for contributions
> - 🛠️ = Unsupported but hoped for through contributions
>
> Everything is open for contributions 🙋

## Node Hub

> Feel free to modify this README with your own nodes so that it benefits the community.

### Camera

| Title | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------------- | ----------------------------------- | ----------------------------------------------------------------- | -------------------------------------------------------------- | -------------------------------------------------------------- |
| [PyOrbbeckSDK](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyorbbecksdk) | Image and depth from Orbbeck Camera | ![Downloads](https://img.shields.io/pypi/dm/dora-pyorbbecksdk) | ![License](https://img.shields.io/pypi/l/dora-pyorbbecksdk) | ![Release](https://img.shields.io/pypi/v/dora-pyorbbecksdk) |
| [PyRealsense](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyrealsense) | Image and depth from Realsense | ![Downloads](https://img.shields.io/pypi/dm/dora-pyrealsense) | ![License](https://img.shields.io/pypi/l/dora-pyrealsense) | ![Release](https://img.shields.io/pypi/v/dora-pyrealsense) |
| [Video Capture](https://github.com/dora-rs/dora/blob/main/node-hub/opencv-video-capture) | Image stream from Camera | ![Downloads](https://img.shields.io/pypi/dm/opencv-video-capture) | ![License](https://img.shields.io/pypi/l/opencv-video-capture) | ![Release](https://img.shields.io/pypi/v/opencv-video-capture) |
| Title | Support | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------------- | ------------------ | ----------------------------------- | ----------------------------------------------------------------- | -------------------------------------------------------------- | -------------------------------------------------------------- |
| [PyOrbbeckSDK](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyorbbecksdk) | 📐 | Image and depth from Orbbeck Camera | ![Downloads](https://img.shields.io/pypi/dm/dora-pyorbbecksdk) | ![License](https://img.shields.io/pypi/l/dora-pyorbbecksdk) | ![Release](https://img.shields.io/pypi/v/dora-pyorbbecksdk) |
| [PyRealsense](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyrealsense) | Linux🆗 <br> Mac🛠️ | Image and depth from Realsense | ![Downloads](https://img.shields.io/pypi/dm/dora-pyrealsense) | ![License](https://img.shields.io/pypi/l/dora-pyrealsense) | ![Release](https://img.shields.io/pypi/v/dora-pyrealsense) |
| [Video Capture](https://github.com/dora-rs/dora/blob/main/node-hub/opencv-video-capture) | ✅ | Image stream from Camera | ![Downloads](https://img.shields.io/pypi/dm/opencv-video-capture) | ![License](https://img.shields.io/pypi/l/opencv-video-capture) | ![Release](https://img.shields.io/pypi/v/opencv-video-capture) |

### Peripheral

| Title | Description | Downloads | License | Release |
| ----------------------------------------------------------------------------------- | ------------------------- | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [PyAudio(Speaker)](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyaudio) | Output audio from speaker | ![Downloads](https://img.shields.io/pypi/dm/dora-pyaudio) | ![License](https://img.shields.io/pypi/l/dora-pyaudio) | ![Release](https://img.shields.io/pypi/v/dora-pyaudio) |
| [Microphone](https://github.com/dora-rs/dora/blob/main/node-hub/dora-microphone) | Audio from microphone | ![Downloads](https://img.shields.io/pypi/dm/dora-microphone) | ![License](https://img.shields.io/pypi/l/dora-microphone) | ![Release](https://img.shields.io/pypi/v/dora-microphone) |
| [Keyboard](https://github.com/dora-rs/dora/blob/main/node-hub/dora-keyboard) | Keyboard char listener | ![Downloads](https://img.shields.io/pypi/dm/dora-keyboard) | ![License](https://img.shields.io/pypi/l/dora-keyboard) | ![Release](https://img.shields.io/pypi/v/dora-keyboard) |
| Title | Support | Description | Downloads | License | Release |
| ----------------------------------------------------------------------------------- | ------- | ------------------------- | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [Keyboard](https://github.com/dora-rs/dora/blob/main/node-hub/dora-keyboard) | ✅ | Keyboard char listener | ![Downloads](https://img.shields.io/pypi/dm/dora-keyboard) | ![License](https://img.shields.io/pypi/l/dora-keyboard) | ![Release](https://img.shields.io/pypi/v/dora-keyboard) |
| [Microphone](https://github.com/dora-rs/dora/blob/main/node-hub/dora-microphone) | ✅ | Audio from microphone | ![Downloads](https://img.shields.io/pypi/dm/dora-microphone) | ![License](https://img.shields.io/pypi/l/dora-microphone) | ![Release](https://img.shields.io/pypi/v/dora-microphone) |
| [PyAudio(Speaker)](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyaudio) | ✅ | Output audio from speaker | ![Downloads](https://img.shields.io/pypi/dm/dora-pyaudio) | ![License](https://img.shields.io/pypi/l/dora-pyaudio) | ![Release](https://img.shields.io/pypi/v/dora-pyaudio) |

### Actuator

| Title | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------------- | ---------------- | --------- | ------- | ------- |
| [Feetech](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/feetech-client) | Feetech Client | | | |
| [Dynamixel](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/dynamixel-client) | Dynamixel Client | | | |
| Title | Support | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------------- | ------- | ---------------- | --------- | ------- | ------- |
| [Feetech](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/feetech-client) | 📐 | Feetech Client | | | |
| [Dynamixel](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/dynamixel-client) | 📐 | Dynamixel Client | | | |

### Chassis

| Title | Description | Downloads | License | Release |
| ------------------------------------------------------------------------------- | ------------------- | --------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------ |
| [Dora Kit Car](https://github.com/dora-rs/dora/blob/main/node-hub/dora-kit-car) | Open Source Chassis | ![Downloads](https://img.shields.io/pypi/dm/dora-kit-car) | ![License](https://img.shields.io/pypi/l/dora-kit-car) | ![Release](https://img.shields.io/pypi/v/dora-kit-car) |
| [Agilex - UGV](https://github.com/dora-rs/dora/blob/main/node-hub/dora-ugv) | Robomaster Client | ![Downloads](https://img.shields.io/pypi/dm/dora-ugv) | ![License](https://img.shields.io/pypi/l/dora-ugv) | ![Release](https://img.shields.io/pypi/v/dora-ugv) |
| [DJI - Robomaster S1](https://huggingface.co/datasets/dora-rs/dora-robomaster) | Robomaster Client | | | |
| Title | Support | Description | Downloads | License | Release |
| ------------------------------------------------------------------------------- | ------- | ------------------- | --------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------ |
| [Agilex - UGV](https://github.com/dora-rs/dora/blob/main/node-hub/dora-ugv) | 🆗 | Robomaster Client | ![Downloads](https://img.shields.io/pypi/dm/dora-ugv) | ![License](https://img.shields.io/pypi/l/dora-ugv) | ![Release](https://img.shields.io/pypi/v/dora-ugv) |
| [DJI - Robomaster S1](https://huggingface.co/datasets/dora-rs/dora-robomaster) | 📐 | Robomaster Client | | | |
| [Dora Kit Car](https://github.com/dora-rs/dora/blob/main/node-hub/dora-kit-car) | 🆗 | Open Source Chassis | ![Downloads](https://img.shields.io/pypi/dm/dora-kit-car) | ![License](https://img.shields.io/pypi/l/dora-kit-car) | ![Release](https://img.shields.io/pypi/v/dora-kit-car) |

### Arm

| Title | Description | Downloads | License | Release |
| ------------------------------------------------------------------------------------------------ | --------------------------------- | ------------------------------------------------------- | ---------------------------------------------------- | ---------------------------------------------------- |
| [Alex Koch - Low Cost Robot](https://github.com/dora-rs/dora-lerobot/blob/main/robots/alexk-lcr) | Alex Koch - Low Cost Robot Client | | | |
| [Lebai - LM3](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/lebai-client) | Lebai client | | | |
| [Agilex - Piper](https://github.com/dora-rs/dora/blob/main/node-hub/dora-piper) | Agilex arm client | ![Downloads](https://img.shields.io/pypi/dm/dora-piper) | ![License](https://img.shields.io/pypi/l/dora-piper) | ![Release](https://img.shields.io/pypi/v/dora-piper) |
| Title | Support | Description | Downloads | License | Release |
| ------------------------------------------------------------------------------------------------ | ------- | --------------------------------- | ------------------------------------------------------- | ---------------------------------------------------- | ---------------------------------------------------- |
| [Alex Koch - Low Cost Robot](https://github.com/dora-rs/dora-lerobot/blob/main/robots/alexk-lcr) | 📐 | Alex Koch - Low Cost Robot Client | | | |
| [Lebai - LM3](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/lebai-client) | 📐 | Lebai client | | | |
| [Agilex - Piper](https://github.com/dora-rs/dora/blob/main/node-hub/dora-piper) | 🆗 | Agilex arm client | ![Downloads](https://img.shields.io/pypi/dm/dora-piper) | ![License](https://img.shields.io/pypi/l/dora-piper) | ![Release](https://img.shields.io/pypi/v/dora-piper) |

### Robot

| Title | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------------------- | --------------- | --------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------ |
| [Pollen - Reachy 2](https://github.com/dora-rs/dora/blob/main/node-hub/dora-reachy2) | Reachy 2 client | ![Downloads](https://img.shields.io/pypi/dm/dora-reachy2) | ![License](https://img.shields.io/pypi/l/dora-reachy2) | ![Release](https://img.shields.io/pypi/v/dora-reachy2) |
| [Trossen - Aloha](https://github.com/dora-rs/dora-lerobot/blob/main/robots/aloha) | Aloha client | | | |
| [Pollen - Reachy 1](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/dora-reachy1) | Reachy 1 Client | | | |
| Title | Support | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------------------- | ------- | --------------- | --------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------ |
| [Pollen - Reachy 1](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/dora-reachy1) | 📐 | Reachy 1 Client | | | |
| [Pollen - Reachy 2](https://github.com/dora-rs/dora/blob/main/node-hub/dora-reachy2) | 🆗 | Reachy 2 client | ![Downloads](https://img.shields.io/pypi/dm/dora-reachy2) | ![License](https://img.shields.io/pypi/l/dora-reachy2) | ![Release](https://img.shields.io/pypi/v/dora-reachy2) |
| [Trossen - Aloha](https://github.com/dora-rs/dora-lerobot/blob/main/robots/aloha) | 📐 | Aloha client | | | |

### Voice Activity Detection
### Voice Activity Detection(VAD)

| Title | Description | Downloads | License | Release |
| ------------------------------------------------------------------------- | ------------------------------- | ----------------------------------------------------- | -------------------------------------------------- | -------------------------------------------------- |
| [Silero VAD](https://github.com/dora-rs/dora/blob/main/node-hub/dora-vad) | Silero Voice activity detection | ![Downloads](https://img.shields.io/pypi/dm/dora-vad) | ![License](https://img.shields.io/pypi/l/dora-vad) | ![Release](https://img.shields.io/pypi/v/dora-vad) |
| Title | Support | Description | Downloads | License | Release |
| ------------------------------------------------------------------------- | ------- | ------------------------------- | ----------------------------------------------------- | -------------------------------------------------- | -------------------------------------------------- |
| [Silero VAD](https://github.com/dora-rs/dora/blob/main/node-hub/dora-vad) | ✅ | Silero Voice activity detection | ![Downloads](https://img.shields.io/pypi/dm/dora-vad) | ![License](https://img.shields.io/pypi/l/dora-vad) | ![Release](https://img.shields.io/pypi/v/dora-vad) |

### Speech to Text
### Speech to Text(STT)

| Title | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------- | ------------------------ | ---------------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------------- |
| [Whisper](https://github.com/dora-rs/dora/blob/main/node-hub/dora-distil-whisper) | Transcribe audio to text | ![Downloads](https://img.shields.io/pypi/dm/dora-distil-whisper) | ![License](https://img.shields.io/pypi/l/dora-distil-whisper) | ![Release](https://img.shields.io/pypi/v/dora-distil-whisper) |
| Title | Support | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------- | ------- | ------------------------ | ---------------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------------- |
| [Whisper](https://github.com/dora-rs/dora/blob/main/node-hub/dora-distil-whisper) | ✅ | Transcribe audio to text | ![Downloads](https://img.shields.io/pypi/dm/dora-distil-whisper) | ![License](https://img.shields.io/pypi/l/dora-distil-whisper) | ![Release](https://img.shields.io/pypi/v/dora-distil-whisper) |

### Object Detection

| Title | Description | Downloads | License | Release |
| ---------------------------------------------------------------------- | ---------------- | ------------------------------------------------------ | --------------------------------------------------- | --------------------------------------------------- |
| [Yolov8](https://github.com/dora-rs/dora/blob/main/node-hub/dora-yolo) | Object detection | ![Downloads](https://img.shields.io/pypi/dm/dora-yolo) | ![License](https://img.shields.io/pypi/l/dora-yolo) | ![Release](https://img.shields.io/pypi/v/dora-yolo) |
| Title | Support | Description | Downloads | License | Release |
| ---------------------------------------------------------------------- | ------- | ---------------- | ------------------------------------------------------ | --------------------------------------------------- | --------------------------------------------------- |
| [Yolov8](https://github.com/dora-rs/dora/blob/main/node-hub/dora-yolo) | ✅ | Object detection | ![Downloads](https://img.shields.io/pypi/dm/dora-yolo) | ![License](https://img.shields.io/pypi/l/dora-yolo) | ![Release](https://img.shields.io/pypi/v/dora-yolo) |

### Segmentation

| Title | Support | Description | Downloads | License | Release |
| -------------------------------------------------------------------- | ------------------- | ---------------- | ------------------------------------------------------ | --------------------------------------------------- | --------------------------------------------------- |
| [SAM2](https://github.com/dora-rs/dora/blob/main/node-hub/dora-sam2) | Cuda✅ <br> Metal🛠️ | Segment Anything | ![Downloads](https://img.shields.io/pypi/dm/dora-sam2) | ![License](https://img.shields.io/pypi/l/dora-sam2) | ![Release](https://img.shields.io/pypi/v/dora-sam2) |

### Vision Language Model
### Large Language Model(LLM)

| Title | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------- | -------------------------------------- | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [Qwen2.5-vl](https://github.com/dora-rs/dora/blob/main/node-hub/dora-qwen2-5-vl) | Vision Language Model using Qwen2.5 VL | ![Downloads](https://img.shields.io/pypi/dm/dora-qwen2-5-vl) | ![License](https://img.shields.io/pypi/l/dora-qwen2-5-vl) | ![Release](https://img.shields.io/pypi/v/dora-qwen2-5-vl) |
| [InternVL](https://github.com/dora-rs/dora/blob/main/node-hub/dora-internvl) | InternVL is a vision language model | ![Downloads](https://img.shields.io/pypi/dm/dora-internvl) | ![License](https://img.shields.io/pypi/l/dora-internvl) | ![Release](https://img.shields.io/pypi/v/dora-internvl) |
| Title | Support | Description | Downloads | License | Release |
| ----------------------------------------------------------------------- | ------- | ------------------------------- | ------------------------------------------------------ | --------------------------------------------------- | --------------------------------------------------- |
| [Qwen2.5](https://github.com/dora-rs/dora/blob/main/node-hub/dora-qwen) | ✅ | Large Language Model using Qwen | ![Downloads](https://img.shields.io/pypi/dm/dora-qwen) | ![License](https://img.shields.io/pypi/l/dora-qwen) | ![Release](https://img.shields.io/pypi/v/dora-qwen) |

### Large Language Model
### Vision Language Model(VLM)

| Title | Description | Downloads | License | Release |
| ----------------------------------------------------------------------- | ------------------------------- | ------------------------------------------------------ | --------------------------------------------------- | --------------------------------------------------- |
| [Qwen2.5](https://github.com/dora-rs/dora/blob/main/node-hub/dora-qwen) | Large Language Model using Qwen | ![Downloads](https://img.shields.io/pypi/dm/dora-qwen) | ![License](https://img.shields.io/pypi/l/dora-qwen) | ![Release](https://img.shields.io/pypi/v/dora-qwen) |
| Title | Support | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------- | ------- | -------------------------------------- | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [Qwen2.5-vl](https://github.com/dora-rs/dora/blob/main/node-hub/dora-qwen2-5-vl) | ✅ | Vision Language Model using Qwen2.5 VL | ![Downloads](https://img.shields.io/pypi/dm/dora-qwen2-5-vl) | ![License](https://img.shields.io/pypi/l/dora-qwen2-5-vl) | ![Release](https://img.shields.io/pypi/v/dora-qwen2-5-vl) |
| [InternVL](https://github.com/dora-rs/dora/blob/main/node-hub/dora-internvl) | 🆗 | InternVL is a vision language model | ![Downloads](https://img.shields.io/pypi/dm/dora-internvl) | ![License](https://img.shields.io/pypi/l/dora-internvl) | ![Release](https://img.shields.io/pypi/v/dora-internvl) |

### Vision Language Action
### Vision Language Action(VLA)

| Title | Description | Downloads | License | Release |
| ------------------------------------------------------------------------ | ------------------------------------------------ | -------------------------------------------------------- | ----------------------------------------------------- | ----------------------------------------------------- |
| [RDT-1B](https://github.com/dora-rs/dora/blob/main/node-hub/dora-rdt-1b) | Infer policy using Robotic Diffusion Transformer | ![Downloads](https://img.shields.io/pypi/dm/dora-rdt-1b) | ![License](https://img.shields.io/pypi/l/dora-rdt-1b) | ![Release](https://img.shields.io/pypi/v/dora-rdt-1b) |
| Title | Support | Description | Downloads | License | Release |
| ------------------------------------------------------------------------ | ------- | ------------------------------------------------ | -------------------------------------------------------- | ----------------------------------------------------- | ----------------------------------------------------- |
| [RDT-1B](https://github.com/dora-rs/dora/blob/main/node-hub/dora-rdt-1b) | 🆗 | Infer policy using Robotic Diffusion Transformer | ![Downloads](https://img.shields.io/pypi/dm/dora-rdt-1b) | ![License](https://img.shields.io/pypi/l/dora-rdt-1b) | ![Release](https://img.shields.io/pypi/v/dora-rdt-1b) |

### Translation

| Title | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------------- | ------------------------------- | --------------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ |
| [Opus MT](https://github.com/dora-rs/dora/blob/main/node-hub/dora-opus) | Translate text between language | ![Downloads](https://img.shields.io/pypi/dm/dora-opus) | ![License](https://img.shields.io/pypi/l/dora-opus) | ![Release](https://img.shields.io/pypi/v/dora-opus) |
| [ArgosTranslate](https://github.com/dora-rs/dora/blob/main/node-hub/dora-argotranslate) | Open Source translation engine | ![Downloads](https://img.shields.io/pypi/dm/dora-argotranslate) | ![License](https://img.shields.io/pypi/l/dora-argotranslate) | ![Release](https://img.shields.io/pypi/v/dora-argotranslate) |
| Title | Support | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------------- | ------- | ------------------------------- | --------------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ |
| [ArgosTranslate](https://github.com/dora-rs/dora/blob/main/node-hub/dora-argotranslate) | 🆗 | Open Source translation engine | ![Downloads](https://img.shields.io/pypi/dm/dora-argotranslate) | ![License](https://img.shields.io/pypi/l/dora-argotranslate) | ![Release](https://img.shields.io/pypi/v/dora-argotranslate) |
| [Opus MT](https://github.com/dora-rs/dora/blob/main/node-hub/dora-opus) | 🆗 | Translate text between language | ![Downloads](https://img.shields.io/pypi/dm/dora-opus) | ![License](https://img.shields.io/pypi/l/dora-opus) | ![Release](https://img.shields.io/pypi/v/dora-opus) |

### Text to Speech
### Text to Speech(TTS)

| Title | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------- | ------------------------ | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [Kokoro TTS](https://github.com/dora-rs/dora/blob/main/node-hub/dora-kokoro-tts) | Efficient Text to Speech | ![Downloads](https://img.shields.io/pypi/dm/dora-kokoro-tts) | ![License](https://img.shields.io/pypi/l/dora-kokoro-tts) | ![Release](https://img.shields.io/pypi/v/dora-kokoro-tts) |
| Title | Support | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------- | ------- | ------------------------ | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [Kokoro TTS](https://github.com/dora-rs/dora/blob/main/node-hub/dora-kokoro-tts) | ✅ | Efficient Text to Speech | ![Downloads](https://img.shields.io/pypi/dm/dora-kokoro-tts) | ![License](https://img.shields.io/pypi/l/dora-kokoro-tts) | ![Release](https://img.shields.io/pypi/v/dora-kokoro-tts) |

### Recorder

| Title | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------------------------- | -------------------------------- | ------------------------------------------------------------------- | ---------------------------------------------------------------- | ---------------------------------------------------------------- |
| [Llama Factory Recorder](https://github.com/dora-rs/dora/blob/main/node-hub/llama-factory-recorder) | Record data to train LLM and VLM | ![Downloads](https://img.shields.io/pypi/dm/llama-factory-recorder) | ![License](https://img.shields.io/pypi/l/llama-factory-recorder) | ![Release](https://img.shields.io/pypi/v/llama-factory-recorder) |
| [LeRobot Recorder](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/lerobot-dashboard) | LeRobot Recorder helper | | | |
| Title | Support | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------------------------- | ------- | -------------------------------- | ------------------------------------------------------------------- | ---------------------------------------------------------------- | ---------------------------------------------------------------- |
| [Llama Factory Recorder](https://github.com/dora-rs/dora/blob/main/node-hub/llama-factory-recorder) | 🆗 | Record data to train LLM and VLM | ![Downloads](https://img.shields.io/pypi/dm/llama-factory-recorder) | ![License](https://img.shields.io/pypi/l/llama-factory-recorder) | ![Release](https://img.shields.io/pypi/v/llama-factory-recorder) |
| [LeRobot Recorder](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/lerobot-dashboard) | 📐 | LeRobot Recorder helper | | | |

### Visualization

| Title | Description | Downloads | License | Release |
| ---------------------------------------------------------------------- | -------------------------------- | ------------------------------------------------------- | ----------------------------------------------------- | ----------------------------------------------------- |
| [Plot](https://github.com/dora-rs/dora/blob/main/node-hub/opencv-plot) | Simple OpenCV plot visualization | ![Downloads](https://img.shields.io/pypi/dm/dora-yolo) | ![License](https://img.shields.io/pypi/l/opencv-plot) | ![Release](https://img.shields.io/pypi/v/opencv-plot) |
| [Rerun](https://github.com/dora-rs/dora/blob/main/node-hub/dora-rerun) | Visualization tool | ![Downloads](https://img.shields.io/pypi/dm/dora-rerun) | ![License](https://img.shields.io/pypi/l/dora-rerun) | ![Release](https://img.shields.io/pypi/v/dora-rerun) |
| Title | Support | Description | Downloads | License | Release |
| ---------------------------------------------------------------------- | ------- | -------------------------------- | ------------------------------------------------------- | ----------------------------------------------------- | ----------------------------------------------------- |
| [Plot](https://github.com/dora-rs/dora/blob/main/node-hub/opencv-plot) | ✅ | Simple OpenCV plot visualization | ![Downloads](https://img.shields.io/pypi/dm/dora-yolo) | ![License](https://img.shields.io/pypi/l/opencv-plot) | ![Release](https://img.shields.io/pypi/v/opencv-plot) |
| [Rerun](https://github.com/dora-rs/dora/blob/main/node-hub/dora-rerun) | ✅ | Visualization tool | ![Downloads](https://img.shields.io/pypi/dm/dora-rerun) | ![License](https://img.shields.io/pypi/l/dora-rerun) | ![Release](https://img.shields.io/pypi/v/dora-rerun) |

### Simulator

| Title | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------- | ------------------------------------ | --------- | ------- | ------- |
| [Mujoco](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/mujoco-client) | Mujoco Simulator | | | |
| [Carla](https://github.com/dora-rs/dora-drives) | Carla Simulator | | | |
| [Gymnasium](https://github.com/dora-rs/dora-lerobot/blob/main/gym_dora) | Experimental OpenAI Gymnasium bridge | | | |
| Title | Support | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------- | ------- | ------------------------------------ | --------- | ------- | ------- |
| [Mujoco](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/mujoco-client) | 📐 | Mujoco Simulator | | | |
| [Carla](https://github.com/dora-rs/dora-drives) | 📐 | Carla Simulator | | | |
| [Gymnasium](https://github.com/dora-rs/dora-lerobot/blob/main/gym_dora) | 📐 | Experimental OpenAI Gymnasium bridge | | | |

## Getting Started

@@ -248,11 +258,16 @@ PATH=$PATH:$(pwd)/target/release

### Run

1. Run some Python examples:
- Run the yolo python example:

```bash
## Create a virtual environment
uv venv --seed -p 3.11
dora build https://raw.githubusercontent.com/dora-rs/dora/refs/heads/readme-with-node-table/examples/object-detection/yolo.yml --uv

## Install nodes dependencies of a remote graph
dora build https://raw.githubusercontent.com/dora-rs/dora/refs/heads/main/examples/object-detection/yolo.yml --uv

## Run yolo graph
dora run yolo.yml --uv
```

@@ -260,46 +275,58 @@ dora run yolo.yml --uv

To stop your dataflow, you can use <kbd>ctrl</kbd>+<kbd>c</kbd>

### Documentation

The full documentation is available on [our website](https://dora-rs.ai/).
A lot of guides are available on [this section](https://dora-rs.ai/docs/guides/) of our website.
- To understand what is happening, you can look at the dataflow with:

## What is Dora? And what features does Dora offer?

**D**ataflow-**O**riented **R**obotic **A**rchitecture (`dora-rs`) is a framework that makes creation of robotic applications fast and simple.

`dora-rs` implements a declarative dataflow paradigm where tasks are split between nodes isolated as individual processes.
```bash
cat yolo.yml
```

Each node defines its inputs and outputs to connect with other nodes.
- Resulting in:

```yaml
nodes:
- id: camera
build: pip install opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/20
outputs:
- image
env:
CAPTURE_PATH: 0
IMAGE_WIDTH: 640
IMAGE_HEIGHT: 480

- id: object-detection
build: pip install dora-yolo
path: dora-yolo
inputs:
image: camera/image
outputs:
- bbox

- id: plot
path: opencv-plot
build: pip install dora-rerun
path: dora-rerun
inputs:
image: camera/image
boxes2d: object-detection/bbox
```

The dataflow paradigm has the advantage of creating an abstraction layer that makes robotic applications modular and easily configurable.
- In the above example, we can understand that the camera is sending image to both the rerun viewer as well as a yolo model that generates bounding box that is visualized within rerun.

<p align="center">
<picture align="center">
<source media="(prefers-color-scheme: dark)" srcset="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/dora_diag_dark.svg">
<source media="(prefers-color-scheme: light)" srcset="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/dora_diag_light.svg">
<img src="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/dora_diag_light.svg">
</picture>
</p>
### Documentation

The full documentation is available on [our website](https://dora-rs.ai/).
A lot of guides are available on [this section](https://dora-rs.ai/docs/guides/) of our website.

## What is Dora? And what features does Dora offer?

**D**ataflow-**O**riented **R**obotic **A**rchitecture (`dora-rs`) is a framework that makes creation of robotic applications fast and simple.

---
`dora-rs` implements a declarative dataflow paradigm where tasks are split between nodes isolated as individual processes.

It offers several features, such as:
The dataflow paradigm has the advantage of creating an abstraction layer that makes robotic applications modular and easily configurable.

### TCP Communication and Shared Memory

@@ -348,27 +375,6 @@ turtle_twist_writer.publish(message)

> You might want to use ChatGPT to write the Arrow Formatting: https://chat.openai.com/share/4eec1c6d-dbd2-46dc-b6cd-310d2895ba15

## Showcases

### Self-Coding Robot: Code RAG (WIP)

You can easily create a self-coding robot, by combining Hot-reloading with a Retrieval Augmented Generation (RAG) that is going to generate code modification from your prompt.
See:[examples/python-operator-dataflow](examples/python-operator-dataflow)

<p align="center">
<picture align="center">
<source media="(prefers-color-scheme: dark)" srcset="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/self_coding_dark.svg">
<source media="(prefers-color-scheme: light)" srcset="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/self_coding_light.svg">
<img src="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/self_coding_light.svg">
</picture>
</p>

Self-Coding Robot is just the tip of the iceberg of robotics combined with llm, that we hope to power. There is so much more that we haven't explored yet like:

- [self-debugging](https://arxiv.org/pdf/2304.05128.pdf)
- [memory](https://github.com/cpacker/MemGPT)
- [function calling](https://github.com/ShishirPatil/gorilla)

## Contributing

We are passionate about supporting contributors of all levels of experience and would love to see


Write Preview
Loading…
Cancel
Save