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Second vote for libp2p. It looks very mature and generic enough to build whatever off of it. It has implementations in js and go.

If you end up rolling your own, I found js to have the most building blocks (pmp and upnp libraries).

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There's an implementation in Rust: https://github.com/libp2p/rust-libp2p

Can anyone point to some higher-level libraries or open-source apps built on top of libp2p?

Apart from the obvious js-ipfs and go-ipfs, check out ipfs-cluster and LivePeer. libp2p is actually meant to be pretty high-level so I'm not aware of more high-level libraries.

Actually, a few minutes later, diggan set my understanding of your question straight :) Check out peer-crdt, the ipfs/y.js bridge, ipfs-pubsub-room, and orbitdb!

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