https://playground.mujoco.org/

 MuJoCo Playground

We introduce MuJoCo Playground, a fully open-source framework for
robot learning built with MJX, with the express goal of streamlining
simulation, training, and sim-to-real transfer onto robots. With a
simple installation process (pip install playground), researchers can
train policies in minutes on a single GPU. Playground supports
diverse robotic platforms, including quadrupeds, humanoids, dexterous
hands, and robotic arms, and enables zero-shot sim-to-real transfer
from both state and pixel inputs. This is achieved through an
integrated stack comprising a physics engine, batch renderer, and
training environments. MuJoCo Playground was a community effort
involving multiple groups, and we hope it proves valuable to
researchers and developers alike.

 paper  code  live demo  starter  locomotion  manipulation 
vision

Disclaimer: All videos on this page except the teaser are shown in
real-time (1x speed).

Quadruped Locomotion

Joystick

Handstand

Footstand

Fall recovery

Sim2Sim Transfer

Humanoid Locomotion

Manipulation

In-Hand Reorientation

Sim2Sim In-Hand Reorientation

In-Hand Z-Axis Rotation

Vision-based Grasping

ALOHA Peg Insertion

Non-Prehensile Manipulation