Work conducted @ias-tudarmstadt.bsky.social headed by @jan-peters.bsky.social @cs-tudarmstadt.bsky.social @tuda.bsky.social

Many thanks to all #LocoMuJoCo Contributors!

🦿 LocoMuJoCo is the first benchmark bridging biomechanics and humanoid robotics!

Train biomechanical models in parallel on GPU using our JAX-based pipeline.
We provide models of varying complexity to accelerate biomechanics research.

🤖 We provide a robot2robot retargeting pipeline!

Retarget any trajectory to any humanoid — regardless of DoF or size.
Add a new model, and get instant access to 22K+ trajectories for training!

⚡️ Lightning-fast training by JIT-compiling the environment and the algorithm into a single function!

Train the policy below in under 20 minutes on an RTX 4090.

🚀 We’re releasing #LocoMuJoCo2 — An extensive library for whole-body imitation & RL.

🔥 Highlights:
- Supports MuJoCo & MJX
- Clean JAX impl of PPO, GAIL, AMP, DeepMimic
- 22K+ trajectories per humanoid
- Add your humanoid easily

🔗 github.com/robfiras/loc...

🧵Details 👇