🛝 MuJoCo Playground

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 installation process (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, and enables 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. MuJoCo Playground was a community effort involving multiple groups, and we hope it proves valuable to researchers and developers alike.

@misc{zakka2025mujocoplayground, title={MuJoCo Playground}, author={Kevin Zakka and Baruch Tabanpour and Qiayuan Liao and Mustafa Haiderbhai and Samuel Holt and Jing Yuan Luo and Arthur Allshire and Erik Frey and Koushil Sreenath and Lueder A. Kahrs and Carmelo Sferrazza and Yuval Tassa and Pieter Abbeel}, year={2025}, eprint={2502.08844}, archivePrefix={arXiv}, primaryClass={cs.RO}, url={https://arxiv.org/abs/2502.08844}, }

Disclaimer: All videos on this page except the teaser are shown in real-time (1x speed).

Quadruped Locomotion

Joystick

Handstand

Footstand

Fall recovery

Sim2Sim Transfer

Humanoid Locomotion

Manipulation

In-Hand Reorientation

Sim2Sim In-Hand Reorientation

In-Hand Z-Axis Rotation

Vision-based Grasping

ALOHA Peg Insertion

Non-Prehensile Manipulation