MuJoCo
The physics engine most robotics research runs on
Robotics & embodied AIPhysics simulatorApache-2.0Runs locallyC++Intermediate
🐳 Docker pulls
📦 PyPI downloads / month
📦 npm downloads / month
🚀 Latest release ·
What is MuJoCo?
MuJoCo simulates contact-rich dynamics fast and accurately. DeepMind open-sourced it, and it is now the default for reinforcement learning on robots.
Why people choose MuJoCo
- Accurate contact dynamics at very high speed
- Free since DeepMind released it
- The de-facto standard in RL papers
MuJoCo at a glance
| Category | Robotics & embodied AI |
| Type | Physics simulator |
| License | Apache-2.0 |
| Runs locally | Yes |
| Built with | C++ |
| Skill level | Intermediate |
| Best for | training control policies before touching real hardware |
Latest releases
Open-source alternatives to MuJoCo
Other open-source robotics & embodied ai tools worth comparing:
GenesisGenerate robotic worlds from a text prompt
LeRobotTrain real robots with the Hugging Face stack
ArduPilotAutopilot for drones, rovers and boats
Stable-Baselines3Reliable RL algorithms you can actually trust
openpi (π0)Open weights for robot foundation models
GymnasiumThe standard interface for reinforcement learning
PX4The autopilot behind most commercial drones
AutowareA complete open-source self-driving stack
Isaac LabMassively parallel robot training on NVIDIA GPUs
ROS 2The operating system layer of modern robotics
Nav2Make a mobile robot navigate on its own
Diffusion PolicyTeach a robot by showing it, using diffusion
HabitatTrain agents to act in photorealistic homes
MoveIt 2Motion planning and manipulation for robot arms
GazeboSimulate a whole robot, sensors includedMuJoCo head-to-head
MuJoCo vs GenesisMuJoCo vs LeRobotMuJoCo vs ArduPilotMuJoCo vs Stable-Baselines3MuJoCo vs openpi (π0)MuJoCo vs GymnasiumMuJoCo vs PX4MuJoCo vs AutowareMuJoCo vs Isaac LabMuJoCo vs ROS 2MuJoCo vs Nav2MuJoCo vs Diffusion PolicyMuJoCo vs HabitatMuJoCo vs MoveIt 2MuJoCo vs Gazebo
FAQ
Is MuJoCo free?
MuJoCo is free and open-source (Apache-2.0 license), so you can use, self-host and modify it at no cost.
Can I run MuJoCo locally?
Yes. MuJoCo is designed to run on your own machine or server, keeping your data private.
What is the best alternative to MuJoCo?
Popular open-source alternatives include Genesis, LeRobot, ArduPilot. See the comparisons above to choose.
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