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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
88 lines
3.7 KiB
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88 lines
3.7 KiB
ReStructuredText
.. _research:
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Research
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========
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Citing mjlab
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------------
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If you use mjlab in your research, please cite:
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.. code-block:: bibtex
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@article{Zakka_mjlab_A_Lightweight_2026,
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author = {Zakka, Kevin and Liao, Qiayuan and Yi, Brent and Le Lay, Louis and Sreenath, Koushil and Abbeel, Pieter},
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title = {{mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning}},
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url = {https://arxiv.org/abs/2601.22074},
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year = {2026}
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}
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Publications
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------------
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Papers that use mjlab. To add your work, open a pull request or post in
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`Show and Tell <https://github.com/mujocolab/mjlab/discussions/categories/show-and-tell>`_.
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.. list-table::
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:header-rows: 1
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:widths: 60 30 10
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* - Title
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- Authors
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- Year
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* - `HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
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<https://arxiv.org/abs/2602.03205>`_
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- Han, Wang, Zhang, Liu, Luo, Bai, Li
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- 2026
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* - `DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based
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Trajectory Optimization <https://arxiv.org/abs/2602.06827>`_
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- Dhedin, Taouil, Omar, Yu, Tao, Dai, Khadiv
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- 2026
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* - `CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid
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Teleoperation <https://arxiv.org/abs/2602.15060>`_
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- Zhu, Cai, Yang, Ren, Xie, Wang, Wu, et al.
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- 2026
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* - `PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid
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Dodgeball <https://arxiv.org/abs/2607.28623>`_
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(`code <https://github.com/lzyang2000/perceptive_cbf_rl>`_)
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- Yang, Li, Ames
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- 2026
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Projects
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--------
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Projects built on mjlab. To add yours, open a pull request or post in
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`Show and Tell <https://github.com/mujocolab/mjlab/discussions/categories/show-and-tell>`_.
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.. list-table::
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:header-rows: 1
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:widths: 35 65
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* - Project
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- Description
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* - `menloresearch/asimov-mjlab <https://github.com/menloresearch/asimov-mjlab>`_
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- Locomotion fork for the Asimov bipedal robot.
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* - `Nagi-ovo/mjlab-homierl <https://github.com/Nagi-ovo/mjlab-homierl>`_
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- H1 locomotion across multiple tasks with robustness to upper body disturbances.
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* - `MyoHub/mjlab_myosuite <https://github.com/MyoHub/mjlab_myosuite>`_
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- Musculoskeletal simulation integration with MyoSuite.
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* - `MarcDcls/mjlab_upkie <https://github.com/MarcDcls/mjlab_upkie>`_
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- Velocity control for the Upkie wheeled biped.
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* - `unitreerobotics/unitree_rl_mjlab <https://github.com/unitreerobotics/unitree_rl_mjlab>`_
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- Official Unitree RL environments for Go2, G1, and H1\_2.
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* - `pal-robotics/pal_mjlab <https://github.com/pal-robotics/pal_mjlab>`_
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- PAL Robotics robots and tasks.
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* - `Msornerrrr/in-hand-rotation-mjlab <https://github.com/Msornerrrr/in-hand-rotation-mjlab>`_
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- Sim to real RL for in hand cube rotation with the LEAP Hand.
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* - `project-instinct/InstinctMJ <https://github.com/project-instinct/InstinctMJ>`_
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- mjlab version of Project-Instinct, a whole-body control toolchain to study Instinct-Level intelligence.
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* - `lzyang2000/twist2_mjlab <https://github.com/lzyang2000/twist2_mjlab>`_
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- mjlab port of `TWIST2 <https://arxiv.org/abs/2511.02832>`_.
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* - `wuji-technology/wuji-mjlab <https://github.com/wuji-technology/wuji-mjlab>`_
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- In-hand cube reorientation on the Wuji Hand with sim-to-real deployment.
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* - `wbc-mjlab/wbc-mjlab <https://github.com/wbc-mjlab/wbc-mjlab>`_
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- Configurable whole-body control — shared MDP with task configs, one policy for many skills.
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* - `pollen-robotics/microduck_rl <https://github.com/pollen-robotics/microduck_rl>`_
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- Sim-to-real locomotion for `Microduck <https://pollen-robotics.com/microduck/>`_, an
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open-source 25 cm bipedal robot from Pollen Robotics and Hugging Face.
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