GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.

Web-based 3D visualization + Python

Fast and simple implementation of RL algorithms, designed to run fully on GPU.

Customizable Reinforcement Learning

Multi-Joint dynamics with Contact. A general purpose physics simulator.

Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research.

A collection of high-quality models for the MuJoCo physics engine, curated by DeepMind.

Massively parallel rigidbody physics simulation on accelerator hardware.

Import robot descriptions as Python modules

RL training visualizer for Mujoco Playground environments + Brax training

Box of handy tools for Sphinx 🧰 📔

C++ and Python SDK for ARX5 robot arm develeoped by @yihuai-gao (@real-stanford)

Google DeepMind's software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo.

Project Page for Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models

This code corresponds to simulation environments used as part of the MimicGen project.

[CoRL '23] Dexterous piano playing with deep reinforcement learning.

dataloading is my passion

robomimic: A Modular Framework for Robot Learning from Demonstration

A curated list of awesome robot descriptions

HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation