MuJoCo
Lerax versions of the Gymnasium MuJoCo Environments.
These environments use MJX, the JAX backend for MuJoCo, enabling fully JIT-compilable physics simulation on GPU/TPU accelerators.
All environments follow the Gymnasium v5 semantics and accept the same configuration parameters as their Gymnasium counterparts.
Locomotion
| Environment |
Description |
| Ant |
A four-legged creature that learns to walk forward |
| HalfCheetah |
A two-legged creature that learns to run |
| Hopper |
A one-legged creature that learns to hop forward |
| Humanoid |
A bipedal robot that learns to walk |
| Swimmer |
A multi-jointed swimmer in a viscous fluid |
| Walker2d |
A bipedal walker that learns to walk forward |
Standing
| Environment |
Description |
| HumanoidStandup |
A humanoid that learns to stand up from the ground |
Balance
Manipulation
| Environment |
Description |
| Pusher |
A robotic arm that pushes an object to a goal |
| Reacher |
A robotic arm that reaches a target position |