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AVIF is royalty-free, & SVT-AV1 and libaom are open source.

Edit: saw you corrected. Much appreciated!

SVT-AV1 is also more than just open source in name only; development and discussions happen in the open; with many community forks that’s now getting upstreamed/merged.

It is a true open source project; not just an open source license.

SVT-AV1-PSY was the first fork, and I created it. When the project matured, the maintainers reached out directly to get things merged – I can confirm it is a great project with great people who are very easy to work with.

AVIF _is_ AV1 in the HEIF container.

(.heif is sometimes used as a file extension generically, but HEIF is itself a container that can support various payloads.)

Both are open I think.