Simulators
MuJoCo
Open-sourced by DeepMind in 2022, MuJoCo remains the most cited physics engine in robot learning research; the 3.x series added MJX for accelerator hardware, and MuJoCo Warp (GPU-optimized, up to ~70x faster on humanoids) also powers a solver inside NVIDIA's Newton engine.
Trajectory
The dated, sourced shifts in this project's life: licence, governance, archival, a component opening up. What the brick did, not what it announces.
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Governance Neutral
DeepMind acquires MuJoCo from Roboti LLC and makes it free as a precompiled library, the source code not yet open.
Source: Google DeepMind (official blog)
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Licence Opening
The full MuJoCo codebase lands on GitHub under Apache-2.0, completing the opening begun with the 2021 acquisition.
Source: Google DeepMind (official blog)
Sources: GitHub (google-deepmind) (2026-07-09)GitHub (google-deepmind) (2026-07-09)GitHub (google-deepmind) (2026-07-09)Google DeepMind (official blog) (2021-10-18)Google DeepMind (official blog) (2022-05-23)
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