mlsanityData to 7 Oct 2026

MuJoCo Playground

arXiv 2502.08844 ↗First posted 12 Feb 2025cs.ROcited by 57

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Abstract (arXiv)

We introduce MuJoCo Playground, a fully open-source framework for robot learning built with MJX, with the express goal of streamlining simulation, training, and sim-to-real transfer onto robots. With a simple "pip install playground", researchers can train policies in minutes on a single GPU. Playground supports diverse robotic platforms, including quadrupeds, humanoids, dexterous hands, and robotic arms, enabling zero-shot sim-to-real transfer from both state and pixel inputs. This is achieved through an integrated stack comprising a physics engine, batch renderer, and training environments. Along with video results, the entire framework is freely available at playground.mujoco.org

Key facts. Cited by 57 papers in the map (data through 7 Oct 2026). First posted on arXiv 12 Feb 2025.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 26; 2026: 31.

57 papers.

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  1. 2025Flow Matching Policy Gradientscited by 86
  2. 2026PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulationcited by 74
  3. 2026ASPIRE: Agentic /Skills Discovery for Roboticscited by 44
  4. 2025FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Controlcited by 32
  5. 2025RSL-RL: A Learning Library for Robotics Researchcited by 28
  6. 2025Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loopcited by 23
  7. 2025GaussGym: An open-source real-to-sim framework for learning locomotion from pixelscited by 22
  8. 2025Learning Getting-Up Policies for Real-World Humanoid Robotscited by 21
  9. 2025Viser: Imperative, Web-based 3D Visualization in Pythoncited by 19
  10. 2025GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulationcited by 16
  11. 2026Flow Policy Gradients for Robot Controlcited by 14
  12. 2025HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoningcited by 12
38 more
  1. 2025Simplicial Embeddings Improve Sample Efficiency in Actor-Critic Agentscited by 12
  2. 2025Learning Sim-to-Real Humanoid Locomotion in 15 Minutescited by 11
  3. 2025SoftMimic: Learning Compliant Whole-body Control from Examplescited by 7
  4. 2025End-to-end RL Improves Dexterous Grasping Policiescited by 5
  5. 2026FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Controlcited by 5
  6. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 4
  7. 2026πR2: Reactive Real-time Flow Policiescited by 4
  8. 2026Thousand-GPU Large-Scale Training and Optimization Recipe for AI-Native Cloud Embodied Intelligence Infrastructurecited by 3
  9. 2026A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policiescited by 3
  10. 2025Unreal Robotics Lab: A High-Fidelity Robotics Simulator with Advanced Physics and Renderingcited by 2
  11. 2025MOSAIC: Skill-Centric Manipulation Planning with Physics Simulationcited by 2
  12. 2025Monte Carlo Beam Search for Actor-Critic Reinforcement Learning in Continuous Controlcited by 2
  13. 2025The Cell Must Go On: Agar.io for Continual Reinforcement Learningcited by 2
  14. 2026What Matters for Simulation to Online Reinforcement Learning on Real Robotscited by 2
  15. 2026Squint: Fast Visual Reinforcement Learning for Sim-to-Real Roboticscited by 2
  16. 2026Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specificationscited by 2
  17. 2025Reinforcement Learning for Ballbot Navigation in Uneven Terraincited by 1
  18. 2025CHyLL: Learning Continuous Neural Representations of Hybrid Systemscited by 1
  19. 2026Model-Based Reinforcement Learning for Control under Time-Varying Dynamicscited by 1
  20. 2026CRAX: Fast Safe Reinforcement Learning Benchmarkingcited by 1
  21. 2026Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steeringcited by 1
  22. 2026Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupedscited by 1
  23. 2025Unity RL Playground: A Versatile Reinforcement Learning Framework for Mobile Robotscited by 0
  24. 2025Trajectory First: A Curriculum for Discovering Diverse Policiescited by 0
  25. 2025ActivePusher: Active Learning and Planning with Residual Physics for Nonprehensile Manipulationcited by 0
  26. 2025Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrationscited by 0
  27. 2025RoboPilot: Generalizable Dynamic Robotic Manipulation with Dual-thinking Modescited by 0
  28. 2025PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotioncited by 0
  29. 2025TARC: Time-Adaptive Robotic Controlcited by 0
  30. 2026PyBatchRender: A Python Library for Batched 3D Rendering at Up to One Million FPScited by 0
  31. 2026KAGE-Bench: Fast Known-Axis Visual Generalization Evaluation for Reinforcement Learningcited by 0
  32. 2026Sim-and-Human Co-training for Data-Efficient and Scene-Generalizable Bimanual Manipulationcited by 0
  33. 2026MyoInteract: A Framework for Fast Prototyping of Biomechanical HCI Tasks using Reinforcement Learningcited by 0
  34. 2026FastDSAC: Unlocking the Potential of Maximum Entropy RL in High-Dimensional Humanoid Controlcited by 0
  35. 2026Path-Space Mirror Descent for On-Policy Reinforcement Learning under the Generalized Schr"odinger Bridgecited by 0
  36. 2026Learning Dexterous Grasping from Sparse Taxonomy Guidancecited by 0
  37. 2026TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulationcited by 0
  38. 2026Benchmarking Action Spaces in Reinforcement Learning for Vision-based Robotic Manipulationcited by 0

50 most cited of 57 All 57 (JSON)