mujoco-mjx

⚠️Work In Progress!⚠️NaVILA-VLA + MuJoCo Go1 Rubble P2P Navigation: Built on DeepMind's mujoco_playground w/ Unitree Go1. Hierarchical NaVILA-VLA + Joystick RL policies achieve xy% success crossing Gaussian rubble → RubbleSim. 50+ seed validation on Gaussian rubble. Architecture robust on research-grade RubbleSim.

An Apptainer/Singularity container for using various GPU-based physics simulators (mujoco-mjx, genesis)

Sparse, Residual World Models for Object-Centric Manipulation — code, paper, and browser demo

Code repository for the publication: Multi-Agent Empowerment and Emergence of Complex Behavior in Groups

Underactuated N-link pendulum control from scratch: single-file PPO, MuJoCo/MJX GPU port, trajectory optimisation and MPPI. Double pendulum swing-up solved 100%; triple balance 98.7%.