MuJoCo, short for Multi-Joint dynamics with Contact, is a general purpose physics engine that is tailored to scientific use cases such as robotics, biomechanics and machine learning. It was first described in 2012 in a paper by Emanuel Todorov, Tom Erez, and Yuval Tassa, and later commercialized under Roboti LLC.[1] According to a Google Scholar search,[2] as of April 2024 the original publication has been cited 5329 times, and the MuJoCo engine 9250 times.[3] It was described by Zhao and Queralta in their review as one of "the most widely used simulators in the literature".[4]
MuJoCo was acquired by Google DeepMind in October 2021 and open-sourced under the Apache 2.0 license in May 2022.[5] Parts of the Deepmind control suite are powered by the MuJoCo engine.[6]
