{"paper":{"title":"MuJoCoUni:Persistent Batched Runtime Primitives for MuJoCo","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Junzhe Wu, Yufei Jia","submitted_at":"2026-05-24T07:57:22Z","abstract_excerpt":"We present MuJoCoUni, a downstream MuJoCo distribution for online robot learning and batched physics evaluation. Alongside the open-loop batched trajectory generation already provided by upstream mujoco.rollout, MuJoCoUni supplies runtime primitives for stateful environment execution. The target workloads need high-throughput parallel execution while retaining upstream CPU MuJoCo semantics for models, sensors, contact, and constraints. Its core object, BatchEnvPool, is a C++/pybind11 executor that owns per-environment mjModel copies, per-thread mjData workers, and an internal thread pool. It p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.24922","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.24922/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}