RSS 2025poster0 citations
Demonstrating MuJoCo Playground
Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo, Arthur Allshire, Erik Frey
Abstract
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, researchers can train policies in minutes on a single GPU. Playground supports diverse robotic platforms, including quadrupeds, humanoids, dexterous hands, and robotic arms, enabling 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.
BibTeX
@inproceedings{rss2025_demonstratingmuj,
title = {Demonstrating 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 Alexander Kahrs and Carmelo Sferrazza and Yuval Tassa and Pieter Abbeel},
booktitle = {RSS 2025},
year = {2025}
}