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Welcome to Mesozoic Labs

Mesozoic Labs is an open-source research platform for dinosaur-inspired locomotion using physics simulation and reinforcement learning.

What is Mesozoic Labs?​

We use articulated MuJoCo models to study how reinforcement-learning agents can learn balance, locomotion, and species-inspired tasks. These models are engineering abstractions inspired by dinosaur morphology; they have not been validated as accurate reconstructions of dinosaur anatomy. Hardware transfer is a future research direction, and no sim-to-real or physical-robot results are currently published.

Key Features​

  • Physics-Based Models - Articulated MuJoCo models inspired by dinosaur morphology
  • Reinforcement Learning - PPO and SAC algorithms for training locomotion
  • JAX/MJX Integration - Batched, GPU-oriented PPO training for all three implemented species
  • Multiple Species - T-Rex, Velociraptor, and Brachiosaurus
  • Sim-to-Real Roadmap - Planned hardware, system-identification, and transfer experiments; not yet validated
  • Open Source - Fully open codebase for research and education

Species Catalog and Published Results​

The model pages render observation and action dimensions, compiled-model facts, current curriculum stages, and published result summaries from the generated species catalog:

The published result summaries describe historical runs. They are marked unverified because the original repository commit, model hash, and config hash were not recorded; they should not be treated as controlled algorithm comparisons or as results from the current model revision and configs.

Project Status​

The project is actively under development. Core infrastructure includes automated curriculum training, W&B experiment tracking, and evaluation metrics. See the repository roadmap for planned work, including hardware and sim-to-real experiments that have not yet been validated.