Implementation:Google deepmind Mujoco mju Halton

Knowledge Sources	MuJoCo MuJoCo API Reference
Domains	Numerical_Methods, Sampling
Last Updated	2026-02-15 06:00 GMT

Overview

Concrete tool for generating Halton low-discrepancy sequence values provided by the MuJoCo utility API.

Description

The mju_Halton function computes the n-th element of the Halton sequence in the given prime base. It reverses the base-representation digits of the index to produce a value in [0, 1) with low discrepancy.

Usage

Use for deterministic quasi-random sampling. Different prime bases (2, 3, 5, ...) generate independent sequences for multi-dimensional sampling.

Code Reference

Source Location

• Repository: mujoco
• File: src/engine/engine_util_misc.c
• Lines: 1859-1872

Signature

mjtNum mju_Halton(int index, int base);

Import

#include <mujoco/mujoco.h>

I/O Contract

Inputs

Name	Type	Required	Description
index	int	Yes	Sequence index (0, 1, 2, ...)
base	int	Yes	Prime base (2, 3, 5, 7, ...)

Outputs

Name	Type	Description
return	mjtNum	Value in [0, 1) from Halton sequence

Usage Examples

#include <mujoco/mujoco.h>

// Generate 2D quasi-random samples
for (int i = 0; i < 100; i++) {
    double x = mju_Halton(i, 2);  // base-2 for x dimension
    double y = mju_Halton(i, 3);  // base-3 for y dimension
    printf("Sample %d: (%f, %f)\n", i, x, y);
}

Related Pages

Implements Principle

• Principle:Google_deepmind_Mujoco_Quasi_Random_Sequences