Ryu is an extensible open-source .net IoC container released under Version 3 of the GNU Public License.

You register types with the IoC container through Ryu Modules.

public class DemoRobotRyuPackage : RyuModule {
  public DemoRobotRyuPackage() {
     Optional.Singleton<IterativeRobot>().Implements<IRobot>();
     Optional.Singleton<IterativeRobotConfiguration>(ConstructIterativeRobotConfiguration);
     ...
  }
  ...
}

Then instantiate Ryu and demand the container gives you singletons:

var ryu = new RyuFactory().Create();
var actualRobot = ryu.GetOrActivate<IRobot>();
actualRobot.Run();

You can also mark classes (e.g. services) as required so that they're automatically instantiated when a Ryu container initializes.

Ryu's pretty barebones right now. You can check out older iterations to see where it's going. See the-dargon-project repo.