Zakka, K., Tabanpour, B., Liao, Q., Haiderbhai, M., Holt, S., Luo, J. Y., Allshire, A., Frey, E., Sreenath, K., Kahrs, L. A., Sferrazza, C., Tassa, Y., & Abbeel, P. MuJoCo Playground: An open-source framework for GPU-accelerated robot learning and sim-to-real transfer. [Computer software]. https://github.com/google-deepmind/mujoco_playground