IEEE

Benchmarking Model Predictive Control and Reinforcement Learning-Based Control for Legged Robot Locomotion in MuJoCo Simulation

Abstract: Model Predictive Control (MPC) and Reinforcement Learning (RL) are two prominent strategies for controlling legged robots. RL learns control policies through system interaction, adapting to ...
IEEE

Model-Based Control Implementation of Quadruped Robots With MuJoCo

Abstract: Control algorithms rely on robot simulation platforms to evaluate the dynamics of the controlled robot. For legged robot simulators, the ability to handle contact and friction is fundamental ...
GitHub

RobotFlow-Labs/Mujoco-mlx

MJX is Google DeepMind's JAX-based GPU physics engine for MuJoCo. MJX-MLX replaces JAX with Apple MLX, enabling GPU-accelerated physics simulation on M1/M2/M3/M4/M5 Macs via Metal. === TEST 1: ...
GitHub

mujoco_terrain_generator.py

x = np.linspace(0, cfg.size[0] * cfg.horizontal_scale, width_downsampled) y = np.linspace(0, cfg.size[1] * cfg.horizontal_scale, length_downsampled) func ...