A simple JAX-based implementation of random search for locomotion tasks using MuJoCo XLA (MJX).
Highly customizable (and fast) recurrent RL library for JAX/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"
Fork of MuJoCo MPC — adds miniHexa, an 18-DOF hexapod task: real-time MPC to a goal, ported to MJX for RL policy training.
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
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