LocoMuJoCo

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Imitation-learning benchmark for locomotion: humanoid, quadruped and human-body models imitate motion-capture data in MuJoCo.1

Sources
Last checked 10 Oct 2026Basic entry15 of 21 facts checked at the sourceNext check 8 Apr 2027
Runs in
Simulation2
Checked against real robots
Not checked
Skill
Walking and balance
Robot
Humanoid, Legged2
Licence
Unclear3

Comparisons with real robots

Claimed, not measured2

Details

Weak: one paper sentence says built-in domain randomization reduces the sim-to-real gap. No real-robot experiments or paired measurements in the paper; none found elsewhere.

Details

About

What it is
Benchmark Inferred1
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Classified by the Atlas from how the authors describe and distribute it.

Built by
Al-Hafez, Zhao, Peters, Tateo: Intelligent Autonomous Systems Group and Locomotion Laboratory, TU Darmstadt; German Research Center for AI (DFKI); Centre for Cognitive Science; Hessian.AI2
Released
2023-11 (arXiv v1 2023-11-04; first tag v0.1.0 2023-12-21)1
Version
v1.1.0 (GitHub release, 2026-03-10)4
Last update
Unknown4
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v1.1.0 released 2026-03-10: MjWarp backend, MuJoCo/MJX/MjWarp >= 3.5, models outsourced to a separate repo, new MjSpec interface4

v1.0.1 released 2025-04-18: rewrite with MuJoCo + MJX, JAX algorithms (PPO, GAIL, AMP, DeepMimic), 12 humanoid + 4 quadruped envs, 22,000+ retargeted mocap datasets4

Status
Active Inferred4
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Release in 2026-03; repo pushed 2026-08-22.

Setup

Runs in
Simulation2
Robot
Humanoid, Legged2
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Read from environment module file names.

Setting
Unknown2

Scoring and access

Scored by
Reward, Fidelity2
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v1 metrics from README/docs.

Leaderboard
None5
Code licence
MIT ('Copyright (c) 2024 Al-Hafez')3
Data licence
Unknown67
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CC-BY-NC-ND-4.0 on the Hugging Face dataset card robfiras/loco-mujoco-datasets (default and LAFAN1 data)6

AMASS data must be downloaded separately 'due to their licensing'; MyoSkeleton requires accepting a licence before download7

Commercial use
allowed for code; non-commercial for bundled datasets (CC-BY-NC-ND) Inferred6
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Not legal advice.

Published at
NeurIPS 2023 6th Robot Learning Workshop (poster); arXiv v2 2023-11-308

Sources 8

  1. 1LocoMuJoCo: A Comprehensive Imitation Learning Benchmark for LocomotionOfficial site · Nov 2023 · checked 10 Oct 2026
  2. 2LocoMuJoCo: A Comprehensive Imitation Learning Benchmark for Locomotion (full text)Official site · Nov 2023 · checked 10 Oct 2026
  3. 3robfiras/loco-mujoco on GitHub (license)Official site · checked 10 Oct 2026
  4. 4robfiras/loco-mujoco on GitHub (releases)Repository · checked 10 Oct 2026
  5. 5Welcome to LocoMuJoCo! — LocoMuJoCo v1.1.0 documentationOfficial site · checked 10 Oct 2026
  6. 6robfiras/loco-mujoco-datasets on Hugging Face (dataset)Official site · checked 10 Oct 2026
  7. 7robfiras/loco-mujoco on GitHub (file README.md)Repository · checked 10 Oct 2026
  8. 8NeurIPS LocoMuJoCo: A Comprehensive Imitation Learning Benchmark for LocomotionOfficial site · checked 10 Oct 2026

Change history

  1. Created as a basic entry: identity facts checked at primary sources (phase 1 re-verification).