Welcome to mjlab!#
What is mjlab?#
mjlab = Isaac Lab’s API + MuJoCo’s simplicity + GPU acceleration
We took Isaac Lab’s proven manager-based architecture and RL abstractions, then built them directly on MuJoCo Warp. No translation layers, no Omniverse overhead. Just fast, transparent physics.
You can try mjlab without installing anything by using uvx:
# Install uv if you haven't already
curl -LsSf https://astral.sh/uv/install.sh | sh
# Run the mjlab demo (no local installation needed)
uvx --from mjlab \
--with "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@9fc294d86955a303619a254cefae809a41adb274" \
demo
If this runs, your setup is compatible with mjlab for evaluation.
License & citation#
mjlab is licensed under the Apache License, Version 2.0. Please refer to the LICENSE file for details.
If you use mjlab in your research, we would appreciate a citation:
@software{Zakka_Mjlab_Isaac_Lab_2025,
author = {Zakka, Kevin and Yi, Brent and Liao, Qiayuan and Le Lay, Louis},
license = {Apache-2.0},
month = sep,
title = {{mjlab: Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research.}},
url = {https://github.com/mujocolab/mjlab},
version = {0.1.0},
year = {2025}
}
Acknowledgments#
mjlab would not exist without the excellent work of the Isaac Lab team, whose API design and abstractions mjlab builds upon.
Thanks also to the MuJoCo Warp team — especially Erik Frey and Taylor Howell — for answering our questions, giving helpful feedback, and implementing features based on our requests countless times.
Table of Contents#
Getting Started
About the Project
API Reference