MuJoCo MPC: An Interactive Application and Software Framework for Real-Time Predictive Control

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Source arXiv

EESS Systems and Control

Robotics

MuJoCo MPC: An Interactive Application and Software Framework for Real-Time Predictive Control

Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo

We introduce an open-source, interactive application and software framework for real-time predictive control, based on mujoco physics.

The framework allows the user to easily author and solve complex robotics tasks, and currently supports three shooting-based planners: derivative-based ilqg and gradient descent, and a simple derivative-free method we call predictivesampling.

Predictive sampling was designed as an elementary baseline, mostly for its pedagogical value, but turned out to be surprisingly competitive with the more established algorithms.

Authors

Taylor Howell, Nimrod Gileadi, Saran Tunyasuvunakool, Kevin Zakka, Tom Erez, Yuval Tassa

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