useCtrlNoise

Apply Gaussian noise to controls for robustness testing

Adds Gaussian noise to actuator controls each frame. Useful for testing controller robustness or simulating actuator noise.

Signature

useCtrlNoise(config: {
  rate?: number;
  std?: number;
  enabled?: boolean;
}): void

Usage

import { useCtrlNoise } from "mujoco-react";

function NoisySimulation() {
  useCtrlNoise({
    rate: 0.01,
    std: 0.05,
    enabled: true,
  });

  return null;
}

Config

Field	Type	Default	Description
rate	number	0.01	Exponential filter rate (0 = no change, 1 = pure noise)
std	number	0.05	Standard deviation of the Gaussian noise
enabled	boolean	true	Enable/disable noise injection

How It Works

Each frame, for each actuator:

noise[i] = (1 - rate) * noise[i] + rate * N(0, std)
ctrl[i] += noise[i]

This produces temporally-correlated noise (not white noise), which is more physically realistic. The rate parameter controls the correlation:

• Low rate (0.01): Smooth, slowly-varying noise
• High rate (0.5): Rapidly-changing noise
• Rate = 1.0: Independent samples each frame (white noise)

Notes

• Noise is applied in useBeforePhysicsStep, composing with other control sources
• The noise state is maintained internally — each actuator has its own noise value
• Disable with enabled: false rather than removing the hook