dm_control: Software and tasks for continuous control

Abstract

The dm_control software package is a collection of Python libraries and task suites for reinforcement learning agents in an articulated-body simulation. Infrastructure includes a wrapper for the MuJoCo physics engine and libraries for procedural model manipulation and task authoring. Task suites include the Control Suite, a set of standardized tasks intended to serve as performance benchmarks, a locomotion framework and task families, and a set of manipulation tasks with a robot arm and snap-together bricks. An adjunct tech report and interactive tutorial are also provided.