<img src="https://github.com/google/brax/raw/main/docs/img/brax_logo.gif" width="336" height="80" alt="BRAX"/>
Brax is a fast and fully differentiable physics engine used for research and
development of robotics, human perception, materials science, reinforcement
learning, and other simulation-heavy applications.
Brax is written in [JAX](https://github.com/google/jax) and is designed for use
on acceleration hardware. It is both efficient for single-device simulation, and
scalable to massively parallel simulation on multiple devices, without the need
for pesky datacenters.
<img src="https://github.com/google/brax/raw/main/docs/img/humanoid_v2.gif" width="160" height="160"/><img src="https://github.com/google/brax/raw/main/docs/img/a1.gif" width="160" height="160"/><img src="https://github.com/google/brax/raw/main/docs/img/ant_v2.gif" width="160" height="160"/><img src="https://github.com/google/brax/raw/main/docs/img/ur5e.gif" width="160" height="160"/>
Brax simulates environments at millions of physics steps per second on TPU, and includes a suite of learning algorithms that train agents in seconds
to minutes:
* Baseline learning algorithms such as
[PPO](https://github.com/google/brax/blob/main/brax/training/agents/ppo),
[SAC](https://github.com/google/brax/blob/main/brax/training/agents/sac),
[ARS](https://github.com/google/brax/blob/main/brax/training/agents/ars), and
[evolutionary strategies](https://github.com/google/brax/blob/main/brax/training/agents/es).
* Learning algorithms that leverage the differentiability of the simulator, such as [analytic policy gradients](https://github.com/google/brax/blob/main/brax/training/agents/apg).
## One API, Four Pipelines
Brax offers four distinct physics pipelines that are easy to swap:
* [MuJoCo XLA - MJX](https://mujoco.readthedocs.io/en/stable/mjx.html) - a JAX
reimplementation of the MuJoCo physics engine.
* [Generalized](https://github.com/google/brax/blob/main/brax/generalized/)
calculates motion in [generalized coordinates](https://en.wikipedia.org/wiki/Generalized_coordinates)
using dynamics algorithms similar to [MuJoCo](https://mujoco.org/) and [TDS](https://github.com/erwincoumans/tiny-differentiable-simulator).
* [Positional](https://github.com/google/brax/blob/main/brax/positional/)
uses [Position Based Dynamics](https://matthias-research.github.io/pages/publications/posBasedDyn.pdf),
a fast but stable method of resolving joint and collision constraints.
* [Spring](https://github.com/google/brax/blob/main/brax/spring/) provides
fast and cheap simulation for rapid experimentation, using simple impulse-based
methods often found in video games.
These pipelines share the same API and can run side-by-side within the same
simulation. This makes Brax well suited for experiments in transfer learning
and closing the gap between simulation and the real world.
## Quickstart: Colab in the Cloud
Explore Brax easily and quickly through a series of colab notebooks:
* [Brax Basics](https://colab.research.google.com/github/google/brax/blob/main/notebooks/basics.ipynb) introduces the Brax API, and shows how to simulate basic physics primitives.
* [Brax Training](https://colab.research.google.com/github/google/brax/blob/main/notebooks/training.ipynb) introduces Brax's training algorithms, and lets you train your own policies directly within the colab. It also demonstrates loading and saving policies.
* [Brax Training with MuJoCo XLA - MJX](https://colab.sandbox.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb) demonstrates training in Brax using the `MJX` physics simulator.
* [Brax Training with PyTorch on GPU](https://colab.research.google.com/github/google/brax/blob/main/notebooks/training_torch.ipynb) demonstrates how Brax can be used in other ML frameworks for fast training, in this case PyTorch.
## Using Brax Locally
To install Brax from pypi, install it with:
```
python3 -m venv env
source env/bin/activate
pip install --upgrade pip
pip install brax
```
You may also install from [Conda](https://docs.conda.io/en/latest/) or [Mamba](https://github.com/mamba-org/mamba):
```
conda install -c conda-forge brax # s/conda/mamba for mamba
```
Alternatively, to install Brax from source, clone this repo, `cd` to it, and then:
```
python3 -m venv env
source env/bin/activate
pip install --upgrade pip
pip install -e .
```
To train a model:
```
learn
```
Training on NVidia GPU is supported, but you must first install
[CUDA, CuDNN, and JAX with GPU support](https://github.com/google/jax#installation).
## Learn More
For a deep dive into Brax's design and performance characteristics, please see
our paper, [Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation
](https://arxiv.org/abs/2106.13281), which appeared in the [Datasets and Benchmarks Track](https://neurips.cc/Conferences/2021/CallForDatasetsBenchmarks) at [NeurIPS 2021](https://nips.cc/Conferences/2021).
## Citing Brax
If you would like to reference Brax in a publication, please use:
```
@software{brax2021github,
author = {C. Daniel Freeman and Erik Frey and Anton Raichuk and Sertan Girgin and Igor Mordatch and Olivier Bachem},
title = {Brax - A Differentiable Physics Engine for Large Scale Rigid Body Simulation},
url = {http://github.com/google/brax},
version = {0.12.1},
year = {2021},
}
```
## Acknowledgements
Brax has come a long way since its original publication. We offer gratitude and
effusive praise to the following people:
* Manu Orsini and Nikola Momchev who provided a major refactor of Brax's
training algorithms to make them more accessible and reusable.
* Erwin Coumans who has graciously offered advice and mentorship, and many
useful references from [Tiny Differentiable Simulator](https://github.com/erwincoumans/tiny-differentiable-simulator).
* Baruch Tabanpour, a colleague who helped launch brax v2 and overhauled the contact library.
* [Shixiang Shane Gu](https://sites.google.com/corp/view/gugurus) and [Hiroki Furuta](https://frt03.github.io/), who contributed BIG-Gym and Braxlines, and a scene composer to Brax.
* Our awesome [open source collaborators and contributors](https://github.com/google/brax/graphs/contributors). Thank you!
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"description": "<img src=\"https://github.com/google/brax/raw/main/docs/img/brax_logo.gif\" width=\"336\" height=\"80\" alt=\"BRAX\"/>\n\nBrax is a fast and fully differentiable physics engine used for research and\ndevelopment of robotics, human perception, materials science, reinforcement\nlearning, and other simulation-heavy applications.\n\nBrax is written in [JAX](https://github.com/google/jax) and is designed for use\non acceleration hardware. It is both efficient for single-device simulation, and\nscalable to massively parallel simulation on multiple devices, without the need\nfor pesky datacenters.\n\n<img src=\"https://github.com/google/brax/raw/main/docs/img/humanoid_v2.gif\" width=\"160\" height=\"160\"/><img src=\"https://github.com/google/brax/raw/main/docs/img/a1.gif\" width=\"160\" height=\"160\"/><img src=\"https://github.com/google/brax/raw/main/docs/img/ant_v2.gif\" width=\"160\" height=\"160\"/><img src=\"https://github.com/google/brax/raw/main/docs/img/ur5e.gif\" width=\"160\" height=\"160\"/>\n\nBrax simulates environments at millions of physics steps per second on TPU, and includes a suite of learning algorithms that train agents in seconds\nto minutes:\n\n* Baseline learning algorithms such as\n [PPO](https://github.com/google/brax/blob/main/brax/training/agents/ppo),\n [SAC](https://github.com/google/brax/blob/main/brax/training/agents/sac),\n [ARS](https://github.com/google/brax/blob/main/brax/training/agents/ars), and\n [evolutionary strategies](https://github.com/google/brax/blob/main/brax/training/agents/es).\n* Learning algorithms that leverage the differentiability of the simulator, such as [analytic policy gradients](https://github.com/google/brax/blob/main/brax/training/agents/apg).\n\n## One API, Four Pipelines\n\nBrax offers four distinct physics pipelines that are easy to swap:\n\n* [MuJoCo XLA - MJX](https://mujoco.readthedocs.io/en/stable/mjx.html) - a JAX\nreimplementation of the MuJoCo physics engine.\n* [Generalized](https://github.com/google/brax/blob/main/brax/generalized/)\ncalculates motion in [generalized coordinates](https://en.wikipedia.org/wiki/Generalized_coordinates)\nusing dynamics algorithms similar to [MuJoCo](https://mujoco.org/) and [TDS](https://github.com/erwincoumans/tiny-differentiable-simulator).\n* [Positional](https://github.com/google/brax/blob/main/brax/positional/)\nuses [Position Based Dynamics](https://matthias-research.github.io/pages/publications/posBasedDyn.pdf),\na fast but stable method of resolving joint and collision constraints.\n* [Spring](https://github.com/google/brax/blob/main/brax/spring/) provides\nfast and cheap simulation for rapid experimentation, using simple impulse-based\nmethods often found in video games.\n\nThese pipelines share the same API and can run side-by-side within the same\nsimulation. This makes Brax well suited for experiments in transfer learning\nand closing the gap between simulation and the real world.\n\n## Quickstart: Colab in the Cloud\n\nExplore Brax easily and quickly through a series of colab notebooks:\n\n* [Brax Basics](https://colab.research.google.com/github/google/brax/blob/main/notebooks/basics.ipynb) introduces the Brax API, and shows how to simulate basic physics primitives.\n* [Brax Training](https://colab.research.google.com/github/google/brax/blob/main/notebooks/training.ipynb) introduces Brax's training algorithms, and lets you train your own policies directly within the colab. It also demonstrates loading and saving policies.\n* [Brax Training with MuJoCo XLA - MJX](https://colab.sandbox.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb) demonstrates training in Brax using the `MJX` physics simulator.\n* [Brax Training with PyTorch on GPU](https://colab.research.google.com/github/google/brax/blob/main/notebooks/training_torch.ipynb) demonstrates how Brax can be used in other ML frameworks for fast training, in this case PyTorch.\n\n## Using Brax Locally\n\nTo install Brax from pypi, install it with:\n\n```\npython3 -m venv env\nsource env/bin/activate\npip install --upgrade pip\npip install brax\n```\n\nYou may also install from [Conda](https://docs.conda.io/en/latest/) or [Mamba](https://github.com/mamba-org/mamba):\n\n```\nconda install -c conda-forge brax # s/conda/mamba for mamba\n```\n\nAlternatively, to install Brax from source, clone this repo, `cd` to it, and then:\n\n```\npython3 -m venv env\nsource env/bin/activate\npip install --upgrade pip\npip install -e .\n```\n\nTo train a model:\n\n```\nlearn\n```\n\nTraining on NVidia GPU is supported, but you must first install\n[CUDA, CuDNN, and JAX with GPU support](https://github.com/google/jax#installation).\n\n## Learn More\n\nFor a deep dive into Brax's design and performance characteristics, please see\nour paper, [Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation\n](https://arxiv.org/abs/2106.13281), which appeared in the [Datasets and Benchmarks Track](https://neurips.cc/Conferences/2021/CallForDatasetsBenchmarks) at [NeurIPS 2021](https://nips.cc/Conferences/2021).\n\n## Citing Brax\n\nIf you would like to reference Brax in a publication, please use:\n\n```\n@software{brax2021github,\n author = {C. Daniel Freeman and Erik Frey and Anton Raichuk and Sertan Girgin and Igor Mordatch and Olivier Bachem},\n title = {Brax - A Differentiable Physics Engine for Large Scale Rigid Body Simulation},\n url = {http://github.com/google/brax},\n version = {0.12.1},\n year = {2021},\n}\n```\n\n## Acknowledgements\n\nBrax has come a long way since its original publication. 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