mjx

Highly customizable (and fast) recurrent RL library for JAX/MJX

A simple JAX-based implementation of random search for locomotion tasks using MuJoCo XLA (MJX).

MyoSuite with MJX (GPU-accelerated) muscle-tendon support

JAX-native robotics: URDF/MJCF import, differentiable MJX dynamics, system identification, calibrated actuators & sensors, whole-body control, and per-unit attested digital twins — one calibrated model from sim to silicon.

Code for the paper "Decentralized neural dynamics and sensory constraints shape brittle star locomotion"

四足机器人 Go2 全栈控制：Convex MPC · RL（BC/PPO/域随机化）· 混合仲裁，同一套 72 试验推力协议下恢复率 94% —— 全程 CPU 训练，附与代码逐项一致的数学设计文档

Run JAX and MuJoCo MJX on AMD Ryzen AI MAX (Strix Halo, gfx1151) from pip wheels - no system ROCm - with a hang-safe check that tells you which wheel set works

Unitree H1 humanoid walking via DeepMimic-style imitation learning — MuJoCo MJX + JAX, 4096 parallel envs, 9000 FPS, full 19-DOF control against real human mocap data

Hexapod hardware, MuJoCo/MJX tripod control, and Cartesian residual reinforcement learning

Terrain locomotion + learned fall recovery (get-up) for the Unitree Go1, trained with MJX / MuJoCo Warp + Brax PPO on a single 8 GB GPU · 中文文档

Fine-tuning the Unitree G1 LSTM walking policy with MJX

Consolidated MuJoCo and MJX quadruped reinforcement-learning experiments

Simulacion y entrenamiento Sim2Real con MuJoCo MJX, JAX y Brax PPO para Ubuntu nativo y WSL2

TARANTULIN desde Windows con runtime MuJoCo MJX/JAX gestionado en WSL2

Turn the MJX GR129 / F645 2.4GHz RC controller into a PC virtual Xbox gamepad with a ProMicro nRF52840. Includes the reverse engineered protocol, the sniffer firmware and a smoothing feeder.

Fork of MuJoCo MPC — adds miniHexa, an 18-DOF hexapod task: real-time MPC to a goal, ported to MJX for RL policy training.

OpenQuadruped ROS 2 port with MuJoCo/MJX simulation scaffolding

🦿 Agility Cassie learns to walk & run — trained with MuJoCo Playground (MJX + Brax PPO) on a GPU, driven from your keyboard on a CPU with plain MuJoCo + NumPy.