Real-time behaviour synthesis with MuJoCo, using Predictive Control

Whole-Body Model-Predictive Control of Legged Robots with MuJoCo

A convex MPC locomotion controller implemented in MuJoCo with Unitree Go2 quadruped

Sampling based model predictive control (MPC) using MuJoCo simulator

Control of ur5e robot in mujoco using iLQG, MPC, RL

Whole-body motion planning for Unitree G1 humanoid in MuJoCo - ZMP preview control, A* footstep planning, MPC balance (49% energy reduction), RL locomotion, and Jacobian IK manipulation

A C++ implementation of MPC framework for the humanoids using iLQR to solve the optimal control problem, leveraging the Pinocchio-Casadi library for efficient rigid body dynamics and analytical derivatives.

the python variant of HECTOR force and moment-based MPC code with low-level control [Mujoco][Jaxopt]

CasMuMPC - MPC with CasADi and MuJoCo

Accelerated Mujoco MPC by replacing finite differencing with WASP for gradient-based controllers.

Deploying MuJoCo MPC with Docker on Windows

MuJoCo based 20-DOF humanoid walking with LIPM and 10-step horizon MPC +20% efficiency

A research-grade MuJoCo simulation of quadrotor water-collection manoeuvres using Sampling-Based MPC, built with a modular design and scalable from CPU to JAX-accelerated GPU rollouts for benchmarking and pre-deployment validation.

Final Project for AA 203: Optimal and Learning-based Control. Multi-arm Optimal Control in Mujoco using Mujoco_MPC

Robot Motion Planning A* → DWA → MPC → PID MuJoCo simulation • Collision avoidance • Real-time visualization

Description: A modular quadruped robot controller in Python featuring Convex MPC and Hierarchical FSM, built on MuJoCo. (基于 MuJoCo 构建，包含凸 MPC 和分层有限状态机的模块化 Python 四足机器人控制器。)

End-to-end pipeline integrating AI-powered vision segmentation with force-torque optimized model-predictive control for precise object articulation on a 7-DOF manipulator. Features include instance/element-level segmentation, real-time wrench sensing, MPC trajectory sampling, Robosuite/MuJoCo deployment, and comprehensive logging.

papers for simulators like mujoco, mojuco_mpc, coppeliaSim, RViz etc

SAFIRL: Shielded RL with CBF/MPC on Franka-MuJoCo — reproducible training/evaluation, STL-based verification, benchmarks, Docker/CI.

mujoco MPC bipedal

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Deploy MPC for Indy7 hardware and in MuJoco

A control systems study comparing LQR, and MPC strategies for stabilizing a double inverted pendulum on a cart at upright equilibrium using MuJoCo physics simulation.

Simulation and control framework for the co-design of a wall-climbing robot, jointly optimizing morphology, actuation, and MPC control parameters using MuJoCo, reinforcement learning, and evolutionary optimization to minimize energy per vertical meter.

基于MuJoCo物理引擎与MJPC模型预测控制框架的自动驾驶小车仿真系统，提供高精度车辆动力学、实时3D仪表盘、燃油消耗模型、状态遥测与动态目标导航，模块化C++实现，总代码≈500行，支持Windows/Linux，可快速验证路径规划、MPC及强化学习算法。

Singularity/Apptainer container for mujoco_mpc

Mujoco MPC 项目

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