# 2-hour reinforcement learning simulation of a quadruped robot dog in MuJoCo

- Source: Reddit r/robotics
- Published: 2026-10-17T00:21:49.000Z
- RoboHot: https://robohot.news/en/items/tzmf1h7k9emvqbcmkqo95dqwt
- Original: https://www.reddit.com/r/robotics/comments/1x7wemk/2h_robot_dog_simulation/

## Summary

In a training platform built on a self-made MuJoCo physics simulator, the developer trained a quadruped robot dog simulation using reinforcement learning with motion imitation (style reference motions). Trained for only 2 hours on a MacBook Air CPU (no GPU), it learned a keyframe trot gait and balance. Joints are limited by a realistic hobby servo model in torque, speed curve, backlash, and latency, making the gait smoother than pure reinforcement learning. The simulation supports WASD-driven multidirectional control.