# Software Index

The table below lists the software solutions, sample pipelines, and tutorials
available across this documentation. The **Domains** column categorizes each
entry to help you find relevant material for your application.

| Reference | Domains | Description |
| --- | --- | --- |
| [RealSense Camera with ROS 2 Sample Application](../components/sensors/reference_applications/realsense-ros2.md) | Sensors, Middleware | Integrates a RealSense camera with ROS 2 to stream color and depth data, launch camera nodes, and visualize the feed in RViz2. |
| [3D Pointcloud Groundfloor Segmentation for RealSense Camera and 3D LiDAR](../components/sensors/reference_applications/pointcloud-groundfloor-segmentation.md) | Sensors, AI | Intel algorithm that classifies 3D point clouds from RealSense or LiDAR sensors into ground, elevated surfaces, and obstacles for navigation over challenging terrain. |
| [Multi-Camera Object Detection Powered by OpenVINO™](../ai_resources/openvino/reference_applications/openvino_multicam_demo.md) | AI, OpenVINO™, Sensors | Runs OpenVINO™-optimized YOLOv8 object detection and segmentation in parallel across up to four USB or GMSL cameras. |
| [OpenVINO™ Object Detection Tutorial](../ai_resources/openvino/reference_applications/object_detection_tutorial.md) | AI, OpenVINO™, Sensors, Middleware | Deploys a ROS 2 OpenVINO™ node for object detection with selectable CPU, GPU, or NPU inference devices. |
| [OpenVINO™ Yolov8 Tutorial](../ai_resources/openvino/reference_applications/yolov8_openvino_tutorial.md) | AI, OpenVINO™, Sensors, Middleware | Installs a ROS 2 OpenVINO™ node and runs a YOLOv8 segmentation model on the CPU using a RealSense camera image as input. |
| [OpenVINO™ Tutorial with Segmentation](../ai_resources/openvino/reference_applications/segmentation_realsense_tutorial.md) | AI, OpenVINO™, Sensors, Middleware | Runs a ROS 2 OpenVINO™ semantic segmentation model on CPU or GPU using a RealSense camera image as input. |
| [Collaborative Visual SLAM](../components/optimized_solutions/collaborative-slam.md) | Autonomous Mobile Robot, SLAM | Multi-robot visual SLAM optimized with SSE/AVX2 instruction sets for map building and merging on Intel® CPUs and GPUs. |
| [FastMapping Algorithm](../components/optimized_solutions/run-fastmapping-algorithm.md) | Autonomous Mobile Robot, Sensors | Intel-optimized octomap implementation that builds 3D voxel maps from RealSense depth camera data for efficient environment representation. |
| [ADBSCAN Follow-me](../components/optimized_solutions/adbscan-follow-me.md) | Autonomous Mobile Robot, AI, Sensors | Adaptive DBSCAN person detection and tracking from 2D/3D LiDAR or RealSense point clouds, with Gazebo simulation and real-robot deployment examples. |
| [ITS Path Planner ROS 2 Navigation Plugin](../components/navigation/its-path-planner-plugin.md) | Autonomous Mobile Robot, Navigation | Intel patented global path planner delivering 20-30x speedup over A* for the ROS 2 Navigation2 stack. |
| [Robot Re-localization Package for ROS 2 Navigation](../components/navigation/navigation-relocalization.md) | Autonomous Mobile Robot, Navigation | Re-localization algorithm that rapidly recovers robot pose in Nav2 after sensor glitches or environment disturbances. |
| [GPU ORB Extractor](../components/optimized_solutions/orb-extractor.md) | Autonomous Mobile Robot, SLAM | GPU-accelerated keypoint and descriptor extraction for Visual SLAM front-ends, with OpenCV and OpenCV-free APIs. |
| [Deploy Robot Teleop Using a Keyboard](../software_references/amr/deployment/teleop_deploy.md) | Autonomous Mobile Robot | Validates motor control on a deployed robot using keyboard teleoperation before running autonomous workloads. |
| [Deploying `wandering`](../software_references/amr/deployment/wandering_deploy.md) | Autonomous Mobile Robot, Navigation | Deploys the Wandering autonomous exploration pipeline on a physical robot using RTAB-Map and Nav2. |
| [Simulated Robotics with Gazebo](../software_references/amr/simulation/basic_sim.md) | Autonomous Mobile Robot, Simulation | Introduces simulating robots as digital twins in Gazebo to test robotics applications before real-world deployment. |
| [Simulating `wandering` in Gazebo](../software_references/amr/simulation/wandering_sim.md) | Autonomous Mobile Robot, Simulation, Navigation | Simulates the full Wandering pipeline in Gazebo with mapping, frontier exploration, and Nav2-based navigation. |
| [Gazebo Pick & Place Demo](../software_references/stationary_arm/simulation/picknplace.md) | Middleware, Manipulation, Simulation | Coordinates two UR5 arms and a TurtleBot3 AMR on a conveyor line using MoveIt2 and Nav2 in Gazebo Classic. |
| [Vision and Controls Simulation Demo](../software_references/stationary_arm/simulation/rvc_sim.md) | Stationary Arm, Simulation, Manipulation | Simulates a UR5e arm, Robotiq gripper, and RealSense camera in Gazebo with MoveIt2 motion planning. |
| [Vision and Controls Deployment Demo](../software_references/stationary_arm/deployment/rvc_deploy.md) | Stationary Arm, Manipulation | Deploys a physical UR5e arm with 2D object detection, 3D pose estimation, and pick-and-place execution. |
| [Imitation Learning - ACT](../software_references/humanoid/sample_pipelines/imitation_learning_act.md) | Humanoid, AI, OpenVINO™, Manipulation | Imitation learning pipeline using Action Chunking with Transformers, optimized with OpenVINO™, for fine manipulation in simulation and on real ALOHA robots. |
| [Model Predictive Control Demo](../software_references/humanoid/sample_pipelines/mpc_demo.md) | Humanoid, AI, Manipulation | Combines ACT imitation learning with OCS2 model predictive control and MuJoCo simulation for perception-action manipulation control. |
| [Diffusion Policy](../software_references/humanoid/sample_pipelines/diffusion_policy.md) | Humanoid, AI, OpenVINO™, Manipulation | Visuomotor diffusion-policy pipeline for the Push-T manipulation task, with Transformer- and CNN-based variants optimized by OpenVINO™. |
| [VSLAM: ORB-SLAM3](../software_references/humanoid/sample_pipelines/ORB_VSLAM.md) | Humanoid, SLAM | Real-time feature-based Visual SLAM supporting monocular, stereo, and RGB-D cameras, with EUROC dataset and RealSense demos. |
| [LIO SLAM: Point-LIO](../software_references/humanoid/sample_pipelines/point_lio_demo.md) | Humanoid, SLAM | Robust high-bandwidth LiDAR-inertial odometry and mapping on Intel® platforms. |
| [LIO SLAM: FAST-LIO2](../software_references/humanoid/sample_pipelines/fast_lio2_demo.md) | Humanoid, SLAM | High-performance LiDAR-inertial odometry and mapping with FAST-LIO2 on Intel® platforms. |
| [Fast-LIVO2 Demo](../software_references/humanoid/sample_pipelines/fast_livo2_demo.md) | Humanoid, SLAM | Direct LiDAR-Inertial-Visual Odometry and mapping fusing LiDAR and camera streams. |
| [LLM Robotics Demo](../software_references/humanoid/sample_pipelines/llm_robotics.md) | Humanoid, AI, Manipulation | Code-generation pipeline combining an LLM (Phi-4), vision models (SAM, CLIP), and a JAKA arm for voice- or text-commanded robot control. |
| [Robotics Diffusion Transformer (RDT)](../software_references/humanoid/sample_pipelines/robotics_diffusion_transformer.md) | Humanoid, AI, OpenVINO™, Manipulation | Bimanual manipulation foundation model with a unified action space, running in MuJoCo simulation and on real ALOHA robots with OpenVINO™ optimization. |
| [Pi0.5 with Real-Time Chunking](../software_references/humanoid/sample_pipelines/pi05_with_rtc.md) | Humanoid, AI, OpenVINO™, Manipulation | Vision-Language-Action pipeline pairing a PaliGemma VLM with a flow-matching policy and real-time chunking for smooth high-frequency control, accelerated with OpenVINO™. |
| [OpenClaw + AgenticROS Deployment](../software_references/humanoid/sample_pipelines/openclaw_agenticros_demo.md) | Humanoid, AI | Integrates OpenClaw and AgenticROS agent frameworks with OpenVINO™ Model Server for robot control in Gazebo. |
| [GEAR-SONIC WBC](../software_references/humanoid/sample_pipelines/gr00t_wbc.md) | Humanoid, AI, Whole-Body Control | Whole-body control optimization of the SONIC WBC inference pipeline on Intel® Core™ Ultra platforms. |
| [Action Chunking with Transformers - ACT](../ai_resources/openvino/models/model_act.md) | AI, OpenVINO, Manipulation | Imitation learning model that predicts action chunks with Transformers for fine manipulation, including conversion to OpenVINO™ IR. |
| [Diffusion Policy (Model)](../ai_resources/openvino/models/model_dp.md) | AI, OpenVINO, Manipulation | Visuomotor policy using conditional denoising diffusion to handle multimodal action distributions, with low-dim and image variants and OpenVINO™ conversion. |
| [Robotics Diffusion Transformer (RDT-1B)](../ai_resources/openvino/models/model_rdt.md) | AI, OpenVINO, Manipulation | 1.2B-parameter diffusion foundation model for manipulation pre-trained on 46 datasets, with OpenVINO™ IR conversion guidance. |
| [General-purpose robot foundation model (Pi0)](../ai_resources/openvino/models/model_pi0.md) | AI, OpenVINO, Manipulation | Vision-Language-Action foundation model pairing a PaliGemma VLM with an action-expert diffusion transformer, including OpenVINO™ conversion. |
| [BC-RNN & BC-Transformer](../ai_resources/openvino/models/model_bc_rnn.md) | AI, OpenVINO, Manipulation | Behavior cloning models using RNN or Transformer backbones to map observations to actions from expert demonstrations. |
| [Visual Servoing - CNS](../ai_resources/openvino/models/model_cns.md) | AI, OpenVINO, Manipulation | Graph neural network image-based visual servo policy achieving sub-millimeter precision at real-time (~40 fps) rates. |
| [GraspNet - Baseline](../ai_resources/openvino/models/model_graspnet.md) | AI, OpenVINO, Manipulation | Grasp generation model trained on GraspNet-1Billion that predicts scored 6-DoF grasp poses from point clouds. |
| [Feature Extraction Model: SuperPoint](../ai_resources/openvino/models/model_superpoint.md) | AI, OpenVINO, SLAM | Self-supervised interest point detector and descriptor generator with homographic adaptation for cross-domain generalization. |
| [Feature Tracking Model: LightGlue](../ai_resources/openvino/models/model_lightglue.md) | AI, OpenVINO, SLAM | Lightweight transformer feature matcher with adaptive depth and width for efficient correspondence in 3D reconstruction and localization. |
| [Improved 3D Diffusion Policy (iDP3)](../ai_resources/openvino/models/model_idp3.md) | AI, OpenVINO, Manipulation | Enhanced 3D manipulation policy that encodes point clouds with a 3D visual encoder and generates actions via diffusion. |
| [Bird's Eye View Perception: Fast-BEV](../ai_resources/openvino/models/model_fastbev.md) | AI, OpenVINO, Navigation | Efficient multi-scale bird's-eye-view perception model for obstacle avoidance, path planning, and spatial awareness. |
| [Monocular Depth Estimation: Depth Anything V2](../ai_resources/openvino/models/model_depthanythingv2.md) | AI, OpenVINO, Sensors | Monocular depth estimation foundation model (25M-1.3B parameters) for cost-effective depth perception without LiDAR. |
| [Dual-arm Manipulation Foundation Model: GR00T N1D7](../ai_resources/openvino/models/model_gr00t_n1d7.md) | AI, OpenVINO, Manipulation | Dual-arm manipulation foundation model optimized with OpenVINO™ for real-time inference. |
| [Pi0.5 Model Optimization](../ai_resources/openvino/pi05-optimization.md) | AI, OpenVINO | Conversion, INT8 compression via Neural Network Compression Framework, latency/throughput benchmarking, and validation of the Pi0.5 VLA model. |
| [Geti™](../ai_resources/developer_tools/geti.md) | AI, Developer Tools | Interactive computer-vision platform for data labeling, training, optimizing, and exporting OpenVINO-ready vision models. |
| [Action Chunking with Transformers - ACT](../ai_resources/openvino/models/model_act.md) | AI, OpenVINO™, Manipulation | Imitation learning model that predicts action chunks with Transformers for fine manipulation, including conversion to OpenVINO™ IR. |
| [Diffusion Policy (Model)](../ai_resources/openvino/models/model_dp.md) | AI, OpenVINO™, Manipulation | Visuomotor policy using conditional denoising diffusion to handle multimodal action distributions, with low-dim and image variants and OpenVINO™ conversion. |
| [Robotics Diffusion Transformer (RDT-1B)](../ai_resources/openvino/models/model_rdt.md) | AI, OpenVINO™, Manipulation | 1.2B-parameter diffusion foundation model for manipulation pre-trained on 46 datasets, with OpenVINO™ IR conversion guidance. |
| [General-purpose robot foundation model (Pi0)](../ai_resources/openvino/models/model_pi0.md) | AI, OpenVINO™, Manipulation | Vision-Language-Action foundation model pairing a PaliGemma VLM with an action-expert diffusion transformer, including OpenVINO™ conversion. |
| [BC-RNN & BC-Transformer](../ai_resources/openvino/models/model_bc_rnn.md) | AI, OpenVINO™, Manipulation | Behavior cloning models using RNN or Transformer backbones to map observations to actions from expert demonstrations. |
| [Visual Servoing - CNS](../ai_resources/openvino/models/model_cns.md) | AI, OpenVINO™, Manipulation | Graph neural network image-based visual servo policy achieving sub-millimeter precision at real-time (~40 fps) rates. |
| [GraspNet - Baseline](../ai_resources/openvino/models/model_graspnet.md) | AI, OpenVINO™, Manipulation | Grasp generation model trained on GraspNet-1Billion that predicts scored 6-DoF grasp poses from point clouds. |
| [Feature Extraction Model: SuperPoint](../ai_resources/openvino/models/model_superpoint.md) | AI, OpenVINO™, SLAM | Self-supervised interest point detector and descriptor generator with homographic adaptation for cross-domain generalization. |
| [Feature Tracking Model: LightGlue](../ai_resources/openvino/models/model_lightglue.md) | AI, OpenVINO™, SLAM | Lightweight transformer feature matcher with adaptive depth and width for efficient correspondence in 3D reconstruction and localization. |
| [Improved 3D Diffusion Policy (iDP3)](../ai_resources/openvino/models/model_idp3.md) | AI, OpenVINO™, Manipulation | Enhanced 3D manipulation policy that encodes point clouds with a 3D visual encoder and generates actions via diffusion. |
| [Bird's Eye View Perception: Fast-BEV](../ai_resources/openvino/models/model_fastbev.md) | AI, OpenVINO™, Navigation | Efficient multi-scale bird's-eye-view perception model for obstacle avoidance, path planning, and spatial awareness. |
| [Monocular Depth Estimation: Depth Anything V2](../ai_resources/openvino/models/model_depthanythingv2.md) | AI, OpenVINO™, Sensors | Monocular depth estimation foundation model (25M-1.3B parameters) for cost-effective depth perception without LiDAR. |
| [Dual-arm Manipulation Foundation Model: GR00T N1D7](../ai_resources/openvino/models/model_gr00t_n1d7.md) | AI, OpenVINO™, Manipulation | Dual-arm manipulation foundation model optimized with OpenVINO™ for real-time inference. |
| [Pi0.5 Model Optimization](../ai_resources/openvino/pi05-optimization.md) | AI, OpenVINO™ | Conversion, INT8 compression via NNCF, latency/throughput benchmarking, and validation of the Pi0.5 VLA model. |
| [Geti™](../ai_resources/developer_tools/geti.md) | AI, Developer Tools | Interactive computer-vision platform for data labeling, training, optimizing, and exporting OpenVINO™-ready vision models. |
| [Wandering AMR Pipeline Benchmark](../components/benchmarking/robotics-system-profiler/wandering-benchmark.md) | Benchmarking, Autonomous Mobile Robot | Automated benchmarking of the Wandering AMR pipeline, measuring latency, resource usage, and optional GPU/NPU KPIs across runs. |
| [Pick & Place Pipeline Benchmark](../components/benchmarking/robotics-system-profiler/picknplace-benchmark.md) | Benchmarking, Manipulation | Automated benchmarking of the multi-robot Pick & Place simulation, capturing lifecycle metrics and aggregated KPIs. |
| [RealSense2 Camera Benchmark](../components/benchmarking/robotics-system-profiler/realsense2-tutorial-benchmark.md) | Benchmarking, Sensors | Automated benchmarking for USB and GMSL RealSense camera pipelines measuring FPS, latency, and system load. |