Tools
Kevin Zakka's mjbatch steps thousands of MuJoCo simulations in parallel on CPU
kevinzakka/mjbatch (created 2026-09-10, 293 stars) runs batched MuJoCo on a C++ thread pool with the GIL released. It exposes live NumPy views of state and controls through `bind`, and per-simulation model parameters through `expand`, for domain randomization. The README says a Go1 RL controller learns to walk in under a minute on an M1 laptop, and includes MPC, system-ID and hardware co-design examples. It is a CPU-only route to RL for anyone without a GPU cluster.
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