Paper page - MuJoCo-Drones-Gym: A GPU-Accelerated Multi-Drone Simulator for Control and Reinforcement Learning

Source: https://huggingface.co/papers/2606.08039

Abstract

A Gymnasium-compatible multi-drone simulation environment built on MuJoCo physics engine that supports flexible physics models, action interfaces, and observation spaces for reinforcement learning applications.

Robotic simulators are a cornerstone of modern research in aerial robotics, serving both as a vehicle for the development of new control algorithms and as the data source for trainingreinforcement learning(RL) policies. Yet, existing quadcopter learning environments often face a trade-off between physical fidelity, multi-agent support, and the throughput required by modern deep RL pipelines. In this paper, we present MuJoCo-Drones-Gym, an open-sourceGymnasium-compatiblemulti-drone environmentbuilt on top of theMuJoCo physics engine. MuJoCo-Drones-Gym supports an arbitrary number of Bitcraze Crazyflie 2.x nano-quadcopters and exposes a modular API for selecting (i)~thephysics model(rigid-body MuJoCo, explicit Python dynamics, or any subset of ground effect, blade drag, and inter-drone downwash), (ii)~theaction interface(per-motor RPMs, collective normalized thrust, velocity setpoints, or PID waypoint commands), and (iii)~theobservation space(kinematic state vectors, RGB / depth / segmentation cameras, or neighbourhood adjacency information). APettingZoo ParallelEnvwrapper enables drop-inmulti-agent reinforcement learning, while a suite of seven task environments, hover, velocity tracking, multi-drone hover, waypoint navigation, formation flight, gate racing, and a generic multi-agent template, demonstrates the breadth of the interface. We describe the environment design, the underlying physics andquadcopter dynamics, and illustrate its use through control and learning examples that mirror those of the closely related gym-pybullet-drones project, while taking advantage of MuJoCo’s improved contact handling, rendering, and parallelizability.

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