{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/predictive-sampling-real-time-behaviour","title":"Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo","arxiv_id":"2212.00541","date":"2022-12-01","proceeding":null,"authors":["Taylor Howell","Nimrod Gileadi","Saran Tunyasuvunakool","Kevin Zakka","Tom Erez","Yuval Tassa"],"abstract":"We introduce MuJoCo MPC (MJPC), an open-source, interactive application and software framework for real-time predictive control, based on MuJoCo physics. MJPC allows the user to easily author and solve complex robotics tasks, and currently supports three shooting-based planners: derivative-based iLQG and Gradient Descent, and a simple derivative-free method we call Predictive Sampling. Predictive Sampling was designed as an elementary baseline, mostly for its pedagogical value, but turned out to be surprisingly competitive with the more established algorithms. This work does not present algorithmic advances, and instead, prioritises performant algorithms, simple code, and accessibility of model-based methods via intuitive and interactive software. MJPC is available at: github.com/deepmind/mujoco_mpc, a video summary can be viewed at: dpmd.ai/mjpc.","url_abs":"https://arxiv.org/abs/2212.00541v2","url_pdf":"https://arxiv.org/pdf/2212.00541v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"predictive-sampling-real-time-behaviour","repo_url":"https://github.com/deepmind/mujoco_mpc","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"Apache-2.0"}},{"paper_slug":"predictive-sampling-real-time-behaviour","repo_url":"https://github.com/google-deepmind/mujoco_mpc","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"predictive-sampling-real-time-behaviour","repo_url":"https://github.com/vincekurtz/hydrax","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"jax","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2212.00541","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2212.00541"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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