Simple-RJX (Demonstration Only) 🚀

Simple-RJX is a demonstration of MJX environments designed for END-TO-END robotics training using reinforcement learning

• Built for simplicity
• Seamlessly integrates with the Brax training pipeline (a well respected JAX based PPO baseline in the community)

Library

Fetch

Training Times (RTX 4090 Mobile)
Mel humanoid	Mel Quadruped	Unitree H1	Unitree G1	Google Barkour Vb	Unitree Go2
70 minutes	43 minutes	TBD minutes	TBD minutes	9 minutes	9 minutes
706950 SPS	968117 SPS	TBD SPS	TBD SPS	573742 SPS	668073 SPS

Reproduce the environments by training locally or instantly using the ***** web links under each environment

Long Jump

Training Times (RTX 4090 Mobile)
Mel humanoid	Mel Quadruped	Unitree H1	Unitree G1	Google Barkour Vb	Unitree Go2
17 minutes	15 minutes	TBD minutes	81 minutes	33 minutes	32 minutes
1341859 SPS	1852031 SPS	TBD SPS	495156 SPS	1360443 SPS	260279 SPS

Reproduce the environments by training locally or instantly using the ***** web links under each environment

Sprints

Training Times (RTX 4090 Mobile)
Mel humanoid	Mel Quadruped	Unitree H1	Unitree G1	Google Barkour Vb	Unitree Go2
5 minutes	5 minutes	7 minutes	17 minutes	11 minutes	10 minutes
1301875 SPS	1869012 SPS	926808 SPS	479238 SPS	1165005 SPS	1199222 SPS

Reproduce the environments by training locally or instantly using the ***** web links under each environment

Stairs

Training Times (RTX 4090 Mobile)
Mel humanoid	Mel Quadruped	Unitree H1	Unitree G1	Google Barkour Vb	Unitree Go2
120 minutes	12 minutes	14 minutes	45 minutes	28 minutes	52 minutes
138406 SPS	457626 SPS	1028639 SPS	TBD SPS	1015357 SPS	1043954 SPS

Reproduce the environments by training locally or instantly using the ***** web links under each environment

inference_rollouts.mp4