v2026.3.10.1 Released

The Universal Runtime for
Embodied AI.

Give any robot a brain. Semantic perception with local embeddings, 13+ AI providers,
HLabs ACB · LiDAR · IMU · depth cameras · reactive obstacle avoidance. One config file. Zero lock-in.

Get Started Star on GitHub
curl -sL opencastor.com/install | bash
PyPI GitHub Docs

Works with Apple Foundation Models + 12+ AI providers · 1M+ models on Hugging Face

Apple Foundation Models
Anthropic
Google Gemini
OpenAI
Hugging Face
Ollama
llama.cpp
MLX
Claude OAuth
OpenRouter
Groq
VLA
Sentence Transformers

Architecture

Tiered Cognitive Architecture

Three layers of intelligence — from reflexive safety to long-horizon planning. Each tier runs independently with automatic fallback.

🧠

Planner

Long-horizon reasoning, task decomposition, and strategic planning. Claude, GPT-4.1, Gemini.

~2s latency
⚡

Fast Brain

Real-time perception and quick decisions. Open-source models via HuggingFace, Ollama, or llama.cpp.

~100ms
🛡️

Reactive Layer

Hardware-level safety reflexes, emergency stop, collision avoidance. No AI latency — pure code.

<1ms

Features

Everything you need to build
intelligent robots.

From vision to safety, from hardware drivers to community configs — it's all here.

🔌

Plug-and-Play Peripherals

Any USB camera, depth sensor, LiDAR, IMU, or motor controller works out of the box. OpenCastor auto-detects hardware at startup — no driver code required. Run castor scan to see everything connected.

👁️

Vision & Depth, Your Way

V4L2 USB cameras, CSI ribbon cameras, OAK-D stereo depth, Intel RealSense, Hailo-8 NPU acceleration — set camera: type: auto and OpenCastor picks the best available hardware. Swap it at any time.

🛡️

Safety & AI Accountability

Multi-layered safety kernel: anti-subversion defense, work authorization, physical bounds enforcement, tamper-evident audit logs, and emergency stop in every loop. RCAN §16 AI Accountability: every command carries model identity, confidence gates, and Human-in-the-Loop authorization — EU AI Act ready.

🌐

Community Hub

Share and discover robot configurations, behaviors, and presets. Pull community-tested RCAN configs with one command. Build on what others have proven.

💻

Cross-Platform

Runs on Raspberry Pi, Jetson, x86 Linux, and macOS. ARM64 native. From $35 Pi Zero to workstation-class machines — same codebase, same config.

🔄

Hot-Swap AI Brains

Switch between Apple/local/cloud stacks with a single config line. Setup recommends compatible stacks automatically for your device.

🧠

Semantic Perception

EmbeddingInterpreter gives your robot semantic memory — it recognizes familiar scenes, detects novel situations, and injects relevant past experience into every decision. Uses local CLIP embeddings by default (no API key needed). Optionally upgrade to Gemini Embedding 2 for multimodal depth. Configure with a single RCAN block.

⚙️

HLabs ACB v2.0 Motor Control

First-class support for HLaboratories' open-source Actuator Control Board — 3-phase BLDC, 12V–30V, 40A, CAN Bus at 1Mbit/s. Auto-detects via USB VID/PID, runs full calibration sequences, streams 50Hz encoder telemetry. Pre-built profiles for single actuator, 3-DOF arm, and 6-DOF biped. Install: pip install opencastor[hlabs].

Cost

Your primary brain costs $0.

Open-source models via Hugging Face free API power the fast brain. Paid providers are optional fallbacks for planning tasks.

Primary Brain

$0
forever
  • Apple Foundation Models on eligible Macs
  • HuggingFace free inference API
  • Ollama local models
  • llama.cpp on-device
  • Full vision pipeline
  • All safety modules
  • Community configs

Planner Fallback

Pay-per-use
only when you need it
  • Anthropic Claude
  • Google Gemini
  • OpenAI GPT-4.1
  • Complex task planning
  • Long-horizon reasoning

Claude OAuth

Free*
with Claude Pro subscription
  • Use your existing Claude sub
  • No separate API keys needed
  • OAuth-based authentication
  • Full Claude capabilities

Quick Start

Three steps to intelligent.

No PhD required. No firmware. No custom drivers.

01

Install

One command installs OpenCastor and all dependencies.

curl -sL opencastor.com/install | bash
02

Configure

Interactive wizard probes your device, suggests a stack, runs preflight, and guides fallbacks when needed.

castor wizard
03

Run

Your robot is now an AI-powered agent. Send commands via voice, chat, or WhatsApp.

castor run --config my_robot.rcan.yaml
166,186
Lines of Code
6,404
Tests
12
AI Providers
Any
USB / I2C / SPI Peripheral

Community

Recipes that
actually work.

Real builders share tested configs. Browse by use case, fork what works, and skip the hard parts.

🏠
Tested

PiCar-X Home Patrol

Nightly patrol with Gemini vision. Spots open windows, water leaks, unexpected items. WhatsApp alerts.

PiCar-X Gemini ~$120
by robotmike · Beginner
🌿
Tested

Farm Scout

4WD rover checking crop rows for pests, disease, and dry spots. Llama 3.3 on Hugging Face free tier.

Freenove 4WD Llama 3.3 ~$200
by agribot_sarah · Intermediate
🎓
Tested

Classroom Q&A Bot

Roams the classroom answering student questions via WhatsApp. Claude Haiku with topic and content filters.

PiCar-X Claude Haiku ~$140
by edu_maker_jen · Beginner
Browse all recipes → Share your robot config →

v2026.3.10.1 — March 10, 2026

What's New

🧠

EmbeddingInterpreter

Local-first multimodal semantic memory. CLIP (512-dim, free) → ImageBind (6-modality, experimental) → Gemini Embedding 2 (3072-dim MRL, premium). Episode store with RAG context injection into every brain tick. Zero config to start.

⚙️

HLabs ACB v2.0 Hardware

Auto-detect, calibrate, and control HLaboratories BLDC actuators over USB-C or CAN Bus. Profiles for arm, biped, and single-actuator test bench. Firmware flash via DFU. Real-time 50Hz telemetry in dashboard.

📋

Full Changelog

View the complete release notes including all bug fixes, API changes, and migration notes.

View Changelog →

Start building today.

Open source. Apache 2.0. Free forever.

Get Started View on GitHub