awesome-ros-deliberation
github.com/ros-wg-delib/awesome-ros-deliberation ↗A curated list of awesome tools and libraries for deliberation in ROS 2.
Use this list with your AI agent
Add the Context Awesome MCP server to Claude, Cursor, or any MCP client, then ask:
"Show me behavior abstractions resources from awesome-ros-deliberation"
Installation instructions →What's inside
Software Packages
- AutoAPMSBehavior Abstractions
Modular domain-agnostic framework for developing and executing behaviors with
- BehaviorTree.ROS2Behavior Abstractions
ROS 2 wrapper for
- BT StudioBehavior Abstractions
A web IDE for development of behavior trees. Uses PyTrees internally, but leverages the XML representation in BehaviorTree.CPP to define trees.
- CoSTAR StackTask Planning and Execution Frameworks
A collaborative system for task automation and recognition.
- FlexBEBehavior Abstractions
State machine implementation with web-based GUI.
- MERLIN2Task Planning and Execution Frameworks
PDDL planning and execution framework, using Python and state machines.
Presentations
- AutoAPMS: Lightweight and versatile integration of behavior trees into the ROS 2 ecosystem
Robin Müller @ FOSDEM Robotics & Simulation Devroom 2026 (
- BehaviorTree.CPP 4.0. What is new and roadmap
Davide Faconti, Picknik @ ROSCon 2022 (
- Behavior Trees for Home Service Robotics Tasks
Sebastian Castro, PickNik Robotics @ Behavior Trees in Robotics Seminar.
- How custom tasks are defined, assigned, and executed in Open-RMF
M. Grey & Yadunund Vijay, Open Robotics @ ROSCon 2022 (
- Implementing Robot Task Planning with Learned Manipulation Skills
Sebastian Castro, Robotics and AI Institute @ University of Washington, 2025 (
- JdeRobot VisualStates: Visual tool for generating automata based robot behaviors
Okan Asik, JdeRobot @ ROSCon 2018 Lightning Talks (
Podcasts
- Can One Person Make Two Powerful Tools for the Robotics Community?
With Davide Faconti, author of BehaviorTree.CPP.
- ROS Plan
RDP 047 with Gerard Canal and Michael Cashmore.
- State Machines for Complex Robot Behavior
With Brett Aldrich, author of SMACC2.
- Towards Assured Robot Autonomy with ROS
RDP 100 with Patrick Musau.
Papers and Book Chapters
- CoSTAR: Instructing collaborative robots with behavior trees and vision
Chris Paxton et al.
- Extended behavior trees for quick definition of flexible robotic tasks
Francesco Rovida et al.
- KnowRob: A knowledge processing infrastructure for cognition-enabled robots
Moritz Tenorth et al.
- Optimized Execution of PDDL Plans using Behavior Trees
Francisco Martín et al.
- Robotic Systems Architectures and Programming in the Handbook of robotics
David Kortenkamp, Bruno Siciliano et al.
- SkiROS—A Skill-Based Robot Control Platform on Top of ROS
Francesco Rovida et al. (SkiROS is superseded by SkiROS2)
Demos
- CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision
CoSTAR demos like sanding, pick & place and robot instruction.
- Dual-arm Piston Insertion
Piston insertion with kinesthetic teaching, vision, task adaption & knowledge integration.
- Hands-On with ROS 2 Deliberation Technologies
Workshop presented at ROSCon 2024, organized by the ROS Deliberation Community Group.
- Reinforcement Learning for Deliberation in ROS 2
Workshop presented at ROSCon 2025, organized by the ROS Deliberation Community Group.
- Robot Household Marathon: EASE Generative Models of Everyday Activity
Setting a table with a PR2.
- Simulation of Robot using Behavior Tree
MOOD2BE, part of Robmosys.
Blog Posts
- Integrated Task and Motion Planning in Robotics
Sebastian Castro, 2022.
- Introduction to Behavior Trees
Sebastian Castro, 2021.
- Task Planning in Robotics
Sebastian Castro, 2022.
Showing a sample of 49 resources. View the full list on GitHub →