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dm_control: Software and Tasks for Continuous Control

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arxiv 2006.12983 v2 pith:ROUEIJFP submitted 2020-06-22 cs.RO cs.AIcs.LG

Yuval Tassa , Saran Tunyasuvunakool , Alistair Muldal , Yotam Doron , Piotr Trochim , Siqi Liu , Steven Bohez , Josh Merel
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Tom Erez Timothy Lillicrap Nicolas Heess
This is my paper
classification cs.ROcs.AIcs.LG
keywords controltaskslibrarieslocomotionmanipulationprovidessoftwaretask
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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

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