#System Identification (2)

mjbatch: Batched MuJoCo Simulation on a CPU Thread Pool

A small Python + C++ library from Kevin Zakka that steps thousands of MuJoCo simulations in parallel on the CPU through a single Batch object: C++ thread pool execution with the GIL released, bind() giving live array views across the whole batch, and expand() for per-simulation model parameters. Memory scales with thread count rather than simulation count, so 4096 simulations stay under 256MB; on a 24-thread machine with a Unitree G1 scene it measured 10.3x over a serial mj_step loop, reaching 676,019 sim-substeps per second with ten substeps batched per call. The repo ships six self-contained solver examples spanning iLQR, predictive-sampling MPC, PPO reinforcement learning, CEM hardware co-design and damped Gauss-Newton system identification, including a Go1 joystick controller that learns to walk in under a minute on a five-year-old M1 laptop.