Year: 2026
Type: conference-paper
Abstract: Recent advancements in parallel simulation and successful robotic applications are spurring a resurgence in sampling-based model predictive control. To build on this progress, however, the robotics community needs common tooling for prototyping, evaluating, and deploying sampling-based controllers. We introduce Judo, a software package designed to address this need. To facilitate rapid prototyping and evaluation, Judo provides robust implementations of common sampling-based MPC algorithms and standardized benchmark tasks. It further emphasizes usability with simple but extensible interfaces for controller and task definitions, asynchronous execution for straightforward simulation-to-hardware transfer, and a highly customizable interactive GUI for tuning controllers interactively. While written in Python, the software leverages MuJoCo as its physics backend to achieve real-time performance, which we validate across both consumer and server-grade hardware. Code at https://github.com/bdaiinstitute/judo.
Authors: Albert H. Li, John Zhang, Jan Brüdigam, Brandon Hung, Aaron D. Ames, Jiuguang Wang, Simon Le Cleac’h, Preston Culbertson
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4417539769
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