Resources¶

mjswan — MyoConference 2026 Presentation¶

Foundations¶

MuJoCo WASM — The official MuJoCo WebAssembly build that mjswan uses at its core.

mjlab — GPU-accelerated robot-learning framework. mjswan visualizes its tasks directly and traces its MDP functions to ONNX; see Using mjlab.

ONNX Runtime Web — Runs both the policy network and the traced MDP term bodies in the browser.

three.js — Rendering, including reflections, shadows, Gaussian splat backgrounds, and WebXR.

Facet — Browser-based MuJoCo viewer from Tsinghua University that originally inspired mjswan.

zalo/mujoco_wasm — One of the earliest efforts to run MuJoCo in a browser, and the groundwork mjswan builds on.

Similar tools¶

Viser — Python 3D visualisation library with a web-based viewer. Server-based rather than static; useful when you need a live Python backend.

Mels.ai — Web IDE for MuJoCo Playground environments.

Real-time Web Viewer for Brax — FastAPI-based approach to streaming Brax simulations to the browser (Google Summer of Code 2025).

Citation¶

@software{mjswan,
  author = {Tsujimoto, Tatsuki},
  title = {{mjswan: MuJoCo Simulation on Web Assembly with Neural networks}},
  url = {https://github.com/ttktjmt/mjswan},
  license = {Apache-2.0}
}

CITATION.cff is the authoritative metadata.