MIMo v2.0.0 (MIMo grows!)

This is the updated version of MIMo as presented in López, F. M., Lenz, M., Fedozzi, M. G., Aubret, A., & Triesch, J. (2025, September). MIMo grows! Simulating body and sensory development in a multimodal infant model. In 2025 IEEE International Conference on Development and Learning (ICDL) (pp. 1-6). IEEE..

With respect to the previous version it:

• Incorporates body growth: size, mass, actuation.
• Incorporates sensorimotor delays.
• Incorportes foveated vision.
• Incorporates visual acuity.
• Adds rolling environment.
• Updates compatibility with mujoco, gymnasium, stable-baselines3.
• Updates package requirements.

MIMo v1.1.0 (The Big Migration)

Moves MIMo from gym and the mujoco_py wrappers to gymnasium and MuJoCos own python wrappers.

See the changelog for more details.

MIMo 1.0.0

Full release.

Compared to the previous release presented at the conference we have added a version of MIMo with five-fingered hands, an extra demo environment in which MIMo catches a falling ball and a new actuation model to more accurately compute muscle behaviours.

This version uses gym 0.20.0 and the mujoco-py wrappers and will be the last version supporting gym and mujoco-py.

Paper

The version of the code used for the initial conference paper.