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We introduce MuJoCo MPC (MJPC), an open-source, interactive application andsoftware framework for real-time predictive control, based on MuJoCo physics.MJPC allows the user to easily author and solve complex robotics tasks, andcurrently supports three shooting-based planners: derivative-based iLQG andGradient Descent, and a simple derivative-free method we call PredictiveSampling. Predictive Sampling was designed as an elementary baseline, mostlyfor its pedagogical value, but turned out to be surprisingly competitive withthe more established algorithms. This work does not present algorithmicadvances, and instead, prioritises performant algorithms, simple code, andaccessibility of model-based methods via intuitive and interactive software.MJPC is available at: github.com/deepmind/mujoco_mpc, a video summary can beviewed at: dpmd.ai/mjpc.

Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo