MuJoCo MPC
Real-time behaviour synthesis with MuJoCo, using Predictive Control
...It allows researchers and roboticists to design, visualize, and execute complex control tasks for simulated or real robotic systems. MJPC integrates a high-performance GUI and multiple predictive control algorithms, including iLQG, gradient descent, and Predictive Sampling — a competitive, derivative-free method that achieves robust real-time control. The system supports multi-shooting optimization, enabling precise motion planning across diverse domains like quadruped locomotion, humanoid tracking, and dexterous manipulation. ...