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arXiv · 2502.08844

MuJoCo Playground

Kevin Zakka·Baruch Tabanpour·Qiayuan Liao·Mustafa Haiderbhai·Samuel Holt·Jing Yuan Luo·Arthur Allshire·Erik Frey·Koushil Sreenath·Lueder A. Kahrs·Carmelo Sferrazza·Yuval Tassa·Pieter Abbeel
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Abstract

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 "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

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Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo, Arthur Allshire, Erik Frey, Koushil Sreenath, Lueder A. Kahrs, Carmelo Sferrazza, Yuval Tassa, Pieter Abbeel. 2025-02-12. MuJoCo Playground. https://arxiv.org/abs/2502.08844

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