Welcome to Mesozoic Labs
Mesozoic Labs is an open-source platform for building robotic dinosaurs using physics simulation and reinforcement learning.
What is Mesozoic Labs?
We're bringing prehistoric creatures back to life—as robots. Using state-of-the-art reinforcement learning algorithms and accurate physics simulations, we train virtual dinosaurs to walk, run, and move naturally. Then we transfer that learned behavior to real robotic hardware.
Key Features
- Accurate Physics Models - MuJoCo-based simulations of dinosaur anatomy
- Reinforcement Learning - PPO and SAC algorithms for training locomotion
- JAX/MJX Integration - GPU-accelerated training with 2,048+ parallel environments for 10-100x speedup
- Multiple Species - T-Rex, Velociraptor, Brachiosaurus, and more
- Sim-to-Real - Transfer learned behaviors to physical robots
- Open Source - Fully open codebase for research and education
Current Results
| Species | Algorithm | Stage | Best Eval Reward | Avg Fwd Vel | Training Steps | Time |
|---|---|---|---|---|---|---|
| T-Rex | PPO | 1 — Balance | 3008.66 +/- 7.62 | 0.02 m/s | 6.0M | 3h 35m |
| T-Rex | PPO | 2 — Locomotion | 1936.01 +/- 13.12 | 3.47 m/s | 8.0M | 5h 17m |
| T-Rex | PPO | 3 — Bite | 1294.28 +/- 67.19 | 1.68 m/s | 8.0M | 4h 10m |
| Velociraptor | PPO | 1 — Balance | 1964.43 +/- 27.39 | 0.11 m/s | 6.0M | 2h 57m |
| Velociraptor | PPO | 2 — Locomotion | 2678.68 +/- 4.07 | 3.47 m/s | 8.0M | 4h 36m |
| Velociraptor | PPO | 3 — Strike | 1366.19 +/- 76.29 | 2.02 m/s | 8.0M | 3h 52m |
| Basic Dinosaur | PPO | Full curriculum | 319.94 | — | 2.6M | 1h 30m |
| Basic Dinosaur | SAC | Full curriculum | 3091.31 | — | 3.6M | — |
All results use 3-stage curriculum learning (balance → locomotion → behavior).
Quick Links
- Getting Started - Set up your development environment
- Models - Explore available dinosaur models
- Training - Learn how to train your own dinosaur
- JAX/MJX Training - GPU-accelerated training with JAX
- GitHub - View the source code
Project Status
The project is actively under development (currently on Phase 1 — v0.3.0). Core infrastructure is in place including automated curriculum training, W&B experiment tracking, and evaluation metrics. Star us on GitHub to follow our progress!