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PREHISTORICROBOTICINTELLIGENCE

Open-source platform for building robotic dinosaurs
powered by physics simulation and reinforcement learning

GET STARTEDVIEW ON GITHUB (opens in new tab)
SPECIES
3
TRAINING STAGES
3

Core Features

MuJoCo Physics

Accurate dinosaur biomechanics simulation with articulated joints, contact dynamics, and actuator models.

Reinforcement Learning

PPO and SAC algorithms via Stable-Baselines3 with automated 3-stage curriculum learning.

3 Species

T-Rex (21 actuators), Velociraptor (22 actuators), and Brachiosaurus (30 actuators).

Open Source

MIT licensed with TOML configs, Gymnasium registration, W&B tracking, and Docker support.

How It Works

Each species learns through a 3-stage curriculum, progressively mastering more complex behaviors

STAGE 1

Balance

Stand & Stabilize

The agent learns to stand upright and maintain balance using proprioceptive feedback and joint torques.

STAGE 2

Locomotion

Walk & Run

Building on balance skills, the agent develops forward locomotion with natural gait patterns.

STAGE 3

Behavior

Strike & Hunt

Advanced species-specific behaviors emerge: sickle claw strikes, head attacks, and tail defense.

See It In Action

PPO Stage 1 — Balance
Velociraptor learning to balance using PPO reinforcement learning
Velociraptor learning to balance via PPO curriculum training

Training Results

Watch each species progress through the curriculum stages

Sickle claw strikes
STAGE 1PPO

Balance

Learning to stand upright

STAGE 2PPO

Locomotion

Walking and running forward

STAGE 3PPO

Strike

Sprinting and attacking with claws

Project Roadmap

PHASE 0 — v0.2.0

Clean Slate

  • TOML configs
  • Gymnasium registration
  • Developer tooling
  • Testing improvements
COMPLETE
PHASE 1 — v0.3.0

First Steps

  • Curriculum manager
  • W&B tracking
  • Locomotion metrics
  • Species training runs
IN PROGRESS
PHASE 2 — v0.4.0

Into the Wild

  • Domain randomization
  • Terrain diversity
  • Turning & steering
PLANNED
PHASE 3 — v0.5.0

Evolution

  • Custom policy networks
  • New species
  • Benchmark suite
PLANNED
PHASE 4 — v0.6.0

The Pack

  • Multi-agent envs
  • Cooperative hunting
  • Predator-prey
PLANNED
PHASES 5-6

Hyperdrive & Sim-to-Real

  • JAX/MJX backend
  • Hardware prototype
  • ROS 2 bridge
PLANNED

Ready to Build Robotic Dinosaurs?

Explore the docs, train your first model, or contribute to the project.

GET STARTEDVIEW ON GITHUB (opens in new tab)