dm_control: Software and tasks for continuous control
Saran Tunyasuvunakool, Alistair Muldal, Yotam Doron, Siqi Liu, Steven Bohez, Josh Merel, Tom Erez, Timothy Lillicrap, Nicolas Heess, Yuval Tassa
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.
Topics & Concepts
Python (programming language)SuiteComputer scienceTask (project management)SoftwareControl (management)Set (abstract data type)Control softwareReinforcement learningProgramming languageSoftware engineeringHuman–computer interactionArtificial intelligenceEngineeringArchaeologySystems engineeringHistoryReinforcement Learning in RoboticsRobot Manipulation and LearningModular Robots and Swarm Intelligence