MuJoCo

Last updated
MuJoCo
Stable release
3.2.7 / January 15, 2025;7 months ago (2025-01-15)
Repository https://github.com/google-deepmind/mujoco
Written in C, C++, Python, C#
License Apache-2.0 license
Website mujoco.org   OOjs UI icon edit-ltr-progressive.svg

MuJoCo, short for Multi-Joint dynamics with Contact, is a general purpose physics engine that is tailored to scientific use cases such as robotics, biomechanics and machine learning. It was first described in 2012 in a paper by Emanuel Todorov, Tom Erez, and Yuval Tassa, and later commercialized under Roboti LLC. [1] According to a Google Scholar search, [2] as of April 2024 the original publication has been cited 5329 times, and the MuJoCo engine 9250 times. [3] It was described by Zhao and Queralta in their review as one of "the most widely used simulators in the literature". [4]

Contents

MuJoCo was acquired by Google DeepMind in October 2021 and open-sourced under the Apache 2.0 license in May 2022. [5] Parts of the Deepmind control suite are powered by the MuJoCo engine. [6]

See also

References

  1. ↑ Todorov, Emanuel; Erez, Tom; Tassa, Yuval (2012). MuJoCo: A physics engine for model-based control. pp. 5026–5033. doi:10.1109/IROS.2012.6386109. ISBN   978-1-4673-1736-8.
  2. ↑ Mujoco: A physics engine for model-based control search. "Google Scholar". scholar.google.com.au. Retrieved 2024-04-03.
  3. ↑ MuJoCo search. "Google Scholar". scholar.google.com.au. Retrieved 2024-04-03.
  4. ↑ Zhao, Wenshuai; Queralta, Jorge Pena; Westerlund, Tomi (2020). "Sim-to-Real Transfer in Deep Reinforcement Learning for Robotics: A Survey". 2020 IEEE Symposium Series on Computational Intelligence (SSCI). IEEE. pp. 737–744. arXiv: 2009.13303 . doi:10.1109/ssci47803.2020.9308468. ISBN   978-1-7281-2547-3.
  5. ↑ "Open-sourcing MuJoCo". Google DeepMind. 2022-05-23. Retrieved 2023-12-07.
  6. ↑ Tassa, Yuval; Doron, Yotam; Muldal, Alistair; Erez, Tom; Li, Yazhe; Casas, Diego de Las; Budden, David; Abdolmaleki, Abbas; Merel, Josh (2018-01-02), DeepMind Control Suite, arXiv: 1801.00690


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