Demonstrating MuJoCo Playground

Abstract

We introduce MuJoCo Playground, a fully opensource framework for robot learning built with MJX, with the express goal of streamlining simulation, training, and simto-real transfer onto robots.With a simple 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, enabling 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.Along with video results, the entire framework is freely available at playground.mujoco.org.