mujoco

Building a fault-tolerant RL octocopter from scratch, using MuJoCo simulation and PPO training with domain randomization to handle motor failures. The project aims to directly command motors via RL policy without PID loops, focusing on six failure classes.

Wuji MJLab is an open-source MuJoCo environment for dexterous hand manipulation, featuring a cube reorientation task, sim2real pipeline, and deployment on the Wuji Hand. It is based on mjlab and includes pretrained PPO policies.

DexJoCo introduces a benchmark and toolkit for task-oriented dexterous manipulation in MuJoCo, featuring 11 functional tasks, a low-cost data collection system, and comprehensive evaluations that highlight limitations in current dexterous manipulation policies.

OpenAI open-sources mujoco-py, a high-performance Python library for robotic simulation using the MuJoCo engine, featuring ~40x speedup with headless GPU rendering and VR interaction support.