google/brax

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Massively parallel rigidbody physics simulation on accelerator hardware.

Stars: 3.2k
Forks: 349
Open beginner issues: 0
Indexed issues: 92

Dominant language: Jupyter Notebook
License: Apache-2.0
Last GitHub push: Sep 15, 2026
Latest indexed: Sep 16, 2026
Contributing guide: Contributing guide
Code of conduct: Code of conduct
Beginner labels: good first issue
PR merge metrics: No merged PRs in 30d

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92 open issues indexed

Impulse vs XPBD; and assorted thoughts Open

google/brax#10 · 34 comments · 1 reaction · 0 assignees · Indexed Sep 16, 2026
Differentiation wrt system parameters Open

enhancement

google/brax#19 · 6 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Standardize on code format / code formatter Open

google/brax#24 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Make it easier to develop local changes to js Open

enhancement

google/brax#33 · 5 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Rendering without notebooks Open

enhancement

google/brax#47 · 12 comments · 5 reactions · 0 assignees · Indexed Sep 16, 2026
Add gyroscopic term to physics integrator Open

enhancement

google/brax#48 · 5 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Replacing gym's Mujoco envs with brax envs Open

google/brax#49 · 70 comments · 8 reactions · 0 assignees · Indexed Sep 16, 2026
Demo request: optimizing for mass/system identification Open

google/brax#66 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Make accelerator-friendly versions of a subset of the gym wrappers Open

enhancement

google/brax#89 · 13 comments · 1 reaction · 0 assignees · Indexed Sep 16, 2026
Post best hparams for each gym env, for each algo Open

documentation

google/brax#91 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
readthedocs integration Open

documentation

google/brax#93 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Lower jit times Open

enhancement

google/brax#95 · 3 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Interactive system builder to rapidly develop systems Open

enhancement

google/brax#96 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Fast ray casting Open

enhancement

google/brax#97 · 0 comments · 1 reaction · 0 assignees · Indexed Sep 16, 2026
Reduced coordinates / featherstone for joints Open

enhancement

google/brax#104 · 1 comment · 1 reaction · 0 assignees · Indexed Sep 16, 2026
Improve friction simulation for contacts Open

enhancement

google/brax#106 · 0 comments · 2 reactions · 0 assignees · Indexed Sep 16, 2026
TPU/GPU visualization for learning from pixels Open

enhancement

google/brax#108 · 6 comments · 1 reaction · 0 assignees · Indexed Sep 16, 2026
Differentiation through contact Open

enhancement

google/brax#109 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Improve the performance of broad-phase culling on TPU Open

enhancement

google/brax#111 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Better document all public API endpoints and the system config Open

documentation

google/brax#112 · 0 comments · 3 reactions · 0 assignees · Indexed Sep 16, 2026
Weird simulation interactions when the frozen floor body does not have the mass property set Open

bug

google/brax#117 · 3 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
MuJoCo converter example colab Open

documentation

google/brax#119 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Results on Hopper Open

google/brax#129 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Example differentiability-leveraging algorithm parameters for legged systems? Open

google/brax#144 · 4 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Summing param values Open

google/brax#155 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Inverse mapping of Joint angle_vel Open

google/brax#157 · 3 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Inconsistency in populating State.info Open

google/brax#160 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Ant with a trap of boxes (similar to issue #136) Open

google/brax#161 · 9 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Action repeat for PyTorch training Open

google/brax#162 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
[Question] [Enhancement] Aerodynamics Open

google/brax#163 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
`info` API compatibility with Gym Open

google/brax#164 · 3 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Coupling bodies without joints? Open

google/brax#168 · 5 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Autoreset behavior Open

google/brax#174 · 14 comments · 4 reactions · 0 assignees · Indexed Sep 16, 2026
humanoid_run doesn't work in composer Colab Open

google/brax#178 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Joints broke after last merge Open

google/brax#181 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
biggym jump__cheetah doesn't work Open

google/brax#182 · 4 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Significant changes in scores with the v0.0.11 physics Open

google/brax#184 · 4 comments · 2 reactions · 0 assignees · Indexed Sep 16, 2026
Brax Halfcheetah Exploding Gradients Open

google/brax#186 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
[Question] Slow simulation Open

google/brax#193 · 7 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Thruster/external torque support for multi-agent components? Open

google/brax#196 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Active_pos or Active_rot is not an attribute of brax_sys in version 0.0.13? Is some other version containing it? Open

google/brax#197 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
1 ppo_test fails Open

google/brax#200 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Memory error on some environments when using ensemble methods Open

google/brax#201 · 3 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
quat_to_euler can produce NaNs Open

bug

google/brax#204 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Issue with bodies flying apart in simulation [Question] Open

google/brax#208 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Short-horizon actor-critic Open

google/brax#247 · 1 comment · 3 reactions · 0 assignees · Indexed Sep 16, 2026
Reacher observation appears to be mislabled Open

google/brax#248 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
feat(composer): agent specific observations Open

google/brax#257 · 4 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
TracedConfig does not influence rendering Open

google/brax#265 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
JaxToTorchWrapper error with jax 0.4.1 Open

good first issue

google/brax#274 · 0 comments · 1 reaction · 0 assignees · Indexed Sep 16, 2026

google/brax

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