<p align="center"> <img src="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/logo.svg" width="400"/> </p> <h2 align="center"> <a href="https://www.dora-rs.ai">Website</a> | <a href="https://dora-rs.ai/docs/guides/getting-started/conversation_py/">Python API</a> | <a href="https://docs.rs/dora-node-api/latest/dora_node_api/">Rust API</a> | <a href="https://www.dora-rs.ai/docs/guides/">Guide</a> | <a href="https://discord.gg/6eMGGutkfE">Discord</a> </h2> <div align="center"> <a href="https://github.com/dora-rs/dora/actions"> <img src="https://github.com/dora-rs/dora/workflows/CI/badge.svg" alt="Build and test"/> </a> <a href="https://crates.io/crates/dora-rs"> <img src="https://img.shields.io/crates/v/dora_node_api.svg"/> </a> <a href="https://docs.rs/dora-node-api/latest/dora_node_api/"> <img src="https://docs.rs/dora-node-api/badge.svg" alt="rust docs"/> </a> <a href="https://pypi.org/project/dora-rs/"> <img src="https://img.shields.io/pypi/v/dora-rs.svg" alt="PyPi Latest Release"/> </a> <a href="https://github.com/dora-rs/dora/blob/main/LICENSE"> <img src="https://img.shields.io/github/license/dora-rs/dora" alt="PyPi Latest Release"/> </a> </div> <div align="center"> <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>

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 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"> <source media="(prefers-color-scheme: dark)" srcset="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/bar_chart_dark.svg"> <source media="(prefers-color-scheme: light)" srcset="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/bar_chart_light.svg"> <img src="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/bar_chart_light.svg"> </picture> </p> <p align="center"> <a href="https://github.com/dora-rs/dora-benchmark/" > <i>Latency benchmark with Python API for both framework, sending 40M of random bytes.</i> </a> </p>

Latest News 🎉

<details open> <summary><b>2025</b></summary>

• [08/25] Introduced dora.builder, a new Pythonic API for imperatively defining dora dataflows.
• [07/25] Added Kornia rust nodes in the hub for V4L / Gstreamer cameras and Sobel image processing.
• [06/25] Add support for git based node, dora-vggt for multi-camera depth estimation, and adding robot_descriptions_py as a default way to get urdfs within dora.
• [05/25] Add support for dora-pytorch-kinematics for fk and ik, dora-mediapipe for pose estimation, dora-rustypot for rust serialport read/write, points2d and points3d visualization in rerun.
• [04/25] Add support for dora-cotracker to track any point on a frame, dora-rav1e AV1 encoding up to 12bit and dora-dav1d AV1 decoding,
• [03/25] Add support for dora async Python.
• [03/25] Add support for Microsoft Phi4, Microsoft Magma.
• [03/25] dora-rs has been accepted to GSoC 2025 🎉, with the following idea list.
• [03/25] Add support for Zenoh for distributed dataflow.
• [03/25] 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>

Support Matrix

| | dora-rs | | --------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | APIs | Python >= 3.8 including sync ⭐✅ <br> Rust ✅<br> C/C++ 🆗 <br>ROS2 >= Foxy 🆗 | | OS | Linux: Arm 32 ⭐✅ Arm 64 ⭐✅ x86_64 ⭐✅ <br>MacOS: Arm 64 ⭐✅ <br>Windows: x86_64 🆗 <br>WSL: x86_64 🆗 <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 IPC 📐 | | Remote Communication | Zenoh 📐 | | RGB-D Streaming | AV1 Encoding (dora-rav1e), AV1 Decoding (dora-dav1d)📐 | | Metrics, Tracing, and Logging | Opentelemetry 📐 | | Configuration | YAML ✅ | | Package Manager | pip: Python Node ✅ Rust Node ✅ C/C++ Node 🛠️ <br>cargo: Rust Node ✅ |

• ⭐ = Recommended
• ✅ = First Class Support
• 🆗 = Best Effort Support
• 📐 = Experimental and looking for contributions
• 🛠️ = Unsupported but hoped for through contributions

Everything is open for contributions 🙋

Node Hub

The node hub is available in the dora-rs/dora-hub repository.

Examples

| Type | Title | Description | Last Commit | | --------- | -------------------------------------------------------------------------------------------------------------- | --------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | | Vision | YOLO | Use YOLO to detect object within image. | | | ROS2 | C++ ROS2 Example | Example using C++ ROS2 | | | ROS2 | Rust ROS2 Example | Example using Rust ROS2 | | | ROS2 | Python ROS2 Example | Example using Python ROS2 | | | Benchmark | GPU Benchmark | GPU Benchmark of dora-rs | | | Benchmark | CPU Benchmark | CPU Benchmark of dora-rs | | | Tutorial | Rust Example | Example using Rust | | | Tutorial | Python Example | Example using Python | | | Tutorial | CMake Example | Example using CMake | ![L