mlsanityData to 7 Oct 2026

Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo

arXiv 2212.00541 ↗First posted 1 Dec 2022cs.RO cs.SY eess.SYcited by 39

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Abstract (arXiv)

We introduce MuJoCo MPC (MJPC), an open-source, interactive application and software framework for real-time predictive control, based on MuJoCo physics. MJPC allows the user to easily author and solve complex robotics tasks, and currently supports three shooting-based planners: derivative-based iLQG and Gradient Descent, and a simple derivative-free method we call Predictive Sampling. Predictive Sampling was designed as an elementary baseline, mostly for its pedagogical value, but turned out to be surprisingly competitive with the more established algorithms. This work does not present algorithmic advances, and instead, prioritises performant algorithms, simple code, and accessibility of model-based methods via intuitive and interactive software. MJPC is available at: github.com/deepmind/mujoco_mpc, a video summary can be viewed at: dpmd.ai/mjpc.

Key facts. Cited by 39 papers in the map (data through 7 Oct 2026). First posted on arXiv 1 Dec 2022.

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Citing papers per year: 2023: 7; 2024: 6; 2025: 17; 2026: 9.

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  1. 2023Eureka: Human-Level Reward Design via Coding Large Language Modelscited by 542
  2. 2023Language to Rewards for Robotic Skill Synthesiscited by 307
  3. 2024ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulationcited by 305
  4. 2023Text2Reward: Reward Shaping with Language Models for Reinforcement Learningcited by 153
  5. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 99
  6. 2025Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Modelscited by 51
  7. 2023RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learningcited by 29
  8. 2025SPIDER: Scalable Physics-Informed Dexterous Retargetingcited by 25
  9. 2025Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimizationcited by 20
  10. 2026stable-worldmodel: A Platform for Reproducible World Modeling Research and Evaluationcited by 13
  11. 2025SIMPACT: Simulation-Enabled Action Planning using Vision-Language Modelscited by 7
  12. 2025Differentiable Simulation of Hard Contacts with Soft Gradients for Learning and Controlcited by 5
27 more
  1. 2025Accelerating Visual-Policy Learning through Parallel Differentiable Simulationcited by 4
  2. 2023Toward Open-ended Embodied Tasks Solvingcited by 3
  3. 2025Scalable, Training-Free Visual Language Robotics: A Modular Multi-Model Framework for Consumer-Grade GPUscited by 3
  4. 2025Generative Predictive Control: Flow Matching Policies for Dynamic and Difficult-to-Demonstrate Taskscited by 3
  5. 2024Training Fast Robot Policies with Slow Foundation Modelscited by 2
  6. 2024REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-assisted Feedingcited by 2
  7. 2025Robust Reward Alignment via Hypothesis Space Batch Cuttingcited by 2
  8. 2025Diffusion-based Planning with Learned Viability Filterscited by 2
  9. 2025Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach For Adaptive Contact-Rich Manipulationcited by 2
  10. 2024Latent Linear Quadratic Regulator for Robotic Control Taskscited by 1
  11. 2024Incremental Few-Shot Adaptation for Non-Prehensile Object Manipulation using Parallelizable Physics Simulatorscited by 1
  12. 2025Multi-person Physics-based Pose Estimation for Combat Sportscited by 1
  13. 2025Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulationscited by 1
  14. 2026Efficient On-policy Visual-RL via Stochastic Decoupled Policy Gradientcited by 1
  15. 2026Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objectscited by 1
  16. 2023Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimizationcited by 0
  17. 2024MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBenchcited by 0
  18. 2025Model Tensor Planningcited by 0
  19. 2025Training Environment for High Performance Reinforcement Learningcited by 0
  20. 2025Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation -- Adios low-level controllerscited by 0
  21. 2025Learning Contact Dynamics through Touching: Action-conditional Graph Neural Networks for Robotic Peg Insertioncited by 0
  22. 2026Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Setscited by 0
  23. 2026Tempered Sequential Monte Carlo for Trajectory and Policy Optimization with Differentiable Dynamicscited by 0
  24. 2026TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulationcited by 0
  25. 2026Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RLcited by 0
  26. 2026Accelerating Visual Policy Learning with Sampling-Based Model Predictive Controlcited by 0
  27. 2026Bellman Meets Lyapunov: Unsupervised Reinforcement Learning via Mastering Chaoscited by 0