dm_control: Software and Tasks for Continuous Control
Yuval Tassa, Saran Tunyasuvunakool, Alistair Muldal, Yotam Doron, Piotr Trochim, Si-Qi Liu, Steven Bohez, Josh Merel, Tom Erez, Timothy Lillicrap, Nicolas Heess
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Abstract
The dm_control software package is a collection of Python libraries and task suites for reinforcement learning agents in an articulated-body simulation. A MuJoCo wrapper provides convenient bindings to functions and data structures. The PyMJCF and Composer libraries enable procedural model manipulation and task authoring. The Control Suite is a fixed set of tasks with standardised structure, intended to serve as performance benchmarks. The Locomotion framework provides high-level abstractions and examples of locomotion tasks. A set of configurable manipulation tasks with a robot arm and snap-together bricks is also included. dm_control is publicly available at https://www.github.com/deepmind/dm_control