iCommand is a Java API for controlling the Lego Mindstorms NXT brick using Bluetooth. It currently uses the standard Lego firmware. Commands are leJOS-like.
lejON, the LeJOS Odometric Navigator is a project which extends the LeJOS-API for LEGO Mindstorms bots. It adds a Java-API to LeJOS in order to control two-wheeled drives only by using motors and rotation sensors -- and nothing else.