MuJoCo   advanced physics simulation

MuJoCo has been used in a number of research projects published in the technical literature. Until recently it was only available to members and collaborators of Emo Todorov's lab at UW, but other researchers have now started to use it and have already obtained interesting results. The table below provides links to papers and videos on the authors' websites.

  Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX
T. Erez, Y. Tassa and E. Todorov (2015). International Conference on Robotics and Automation

Paper  Video
Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids
I. Mordarch, K. Lowrey and E. Todorov (2015). manuscript under revision

Paper  Video
Physics-based trajectory optimization for grasping in cluttered environments
N. Kitaev, I. Mordatch, S. Patil and P. Abbeel (2015). International Conference on Robotics and Automation
Trust region policy optimization
J. Schulman, S. Levine, P. Moritz, M. I. Jordan and P. Abbeel (2015). manuscipt under review

Website
Passive frontal plane stabilization in 3D walking
S. Sovero, C. Saglam and K. Byl (2015). manuscipt under review

Paper
Learning complex neural network policies with trajectory optimization
S. Levine and V. Koltun (2014). International Conference on Machine Learning

Paper  Website
Combining the benefits of function approximation and trajectory optimization
I. Mordatch and E. Todorov (2014). Robotics: Science and systems

Paper  Video
Physically-consistent sensor fusion in contact-rich behaviors
K. Lowrey, S. Kolev, Y. Tassa, T. Erez and E. Todorov (2014). International Conference on Intelligent Robots and Systems

Paper  Video
Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo
E. Todorov (2014). International Conference on Robotics and Automation

Paper  Video
Control-limited Differential Dynamic Programming
Y. Tassa, N. Mansard and E. Todorov (2014). International Conference on Robotics and Automation

Paper  Video
Real-time behaviour synthesis for dynamic hand manipulation
V. Kumar, T. Tassa and E. Todorov (2014). International Conference on Robotics and Automation

Paper  Video
Receding-horizon online optimization for dexterous object manipulation
T. Erez, S. Kolev and E. Todorov (2014). manuscipt under revision

Paper  Video
Animating human lower limbs using Contact-Invariant Optimization
I. Mordatch, J. Want, E. Todorov and V. Koltun (2013). SIGGRAPH ASIA

Paper  Video
STAC: Simultaneous tracking and calibration
T. Wu, Y. Tassa, V. Kumar, J. Movellan and E. Todorov (2013). International Conference on Humanoid Robots

Paper  Video
An integrated system for real-time model-predictive control of humanoid robots
T. Erez, K. Lowrey, Y. Tassa, V. Kumar, S. Kolev and E. Todorov (2013). International Conference on Humanoid Robots

Paper  Video
MuJoCo: A physics engine for model-based control
E. Todorov, T. Erez, and Y. Tassa (2012). International Conference on Intelligent Robots and Systems

Paper
Design of an anthropomorphic robotic finger system with biomimetic artificial joints
Z. Xu, V. Kumar, Y. Matsuoka and E. Todorov (2012). Biomedical Robotics and Biomechatronics

Paper
Synthesis and stabilization of complex behaviors through online trajectory optimization
Y. Tassa, T. Erez and E. Todorov (2012). International Conference on Intelligent Robots and Systems

Paper  Video
Trajectory optimization for domains with contacts using inverse dynamics
T. Erez and E. Todorov (2012). International Conference on Intelligent Robots and Systems

Paper
A convex, smooth and invertible contact model for trajectory optimization
E. Todorov (2011). International Conference on Robotics and Automation

Paper  Video