3 ms·
Not only vectorization, but the plethora of environments written in jax. Hopefully someone will port MuJoCo to jax soon
by schizo89 3y ago
Not only vectorization, but the plethora of environments written in jax. Hopefully someone will port MuJoCo to jax soon
- erwincoumans 3y agoThere is Brax, a differentiable physics simulator written in Jax. It includes Gym tasks such as Ant, Humanoid and more: https://github.com/google/brax https://github.com/google/brax It is not full MuJoCo but a good base to add more features. Aside from position based dynamics (xpbd) it features motion in generalized coordinates using the same accurate robot dynamics algorithms as MuJoCo and TDS (Tiny Differentiable Simulator).