Research

Citing mjlab

If you use mjlab in your research, please cite:

@article{Zakka_mjlab_A_Lightweight_2026,
    author = {Zakka, Kevin and Liao, Qiayuan and Yi, Brent and Le Lay, Louis and Sreenath, Koushil and Abbeel, Pieter},
    title = {{mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning}},
    url = {https://arxiv.org/abs/2601.22074},
    year = {2026}
}

Publications

Papers that use mjlab. To add your work, open a pull request or post in Show and Tell.

Title	Authors	Year
HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control	Han, Wang, Zhang, Liu, Luo, Bai, Li	2026
DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization	Dhedin, Taouil, Omar, Yu, Tao, Dai, Khadiv	2026

Projects

Projects built on mjlab. To add yours, open a pull request or post in Show and Tell.

Project	Description
menloresearch/asimov-mjlab	Locomotion fork for the Asimov bipedal robot.
Nagi-ovo/mjlab-homierl	H1 locomotion across multiple tasks with robustness to upper body disturbances.
MyoHub/mjlab_myosuite	Musculoskeletal simulation integration with MyoSuite.
MarcDcls/mjlab_upkie	Velocity control for the Upkie wheeled biped.
unitreerobotics/unitree_rl_mjlab	Official Unitree RL environments for Go2, G1, and H1_2.
Msornerrrr/in-hand-rotation-mjlab	Sim to real RL for in hand cube rotation with the LEAP Hand.