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< section id = "deepmind-control-dmc" >
< h1 > DeepMind Control (DMC)< a class = "headerlink" href = "#deepmind-control-dmc" title = "Permalink to this heading" > < / a > < / h1 >
<!-- TODO: Add Vid -->
< p > These are the Environment Wrappers for selected
< a class = "reference external" href = "https://github.com/google-deepmind/dm_control" > DeepMind Control< / a >
environments in order to use our Motion Primitive gym interface with them.< / p >
< section id = "step-based-environments" >
< h2 > Step-Based Environments< a class = "headerlink" href = "#step-based-environments" title = "Permalink to this heading" > < / a > < / h2 >
< p > When installing fancy_gym with the optional dmc extra (e.g. < code class = "docutils literal notranslate" > < span class = "pre" > pip< / span > < span class = "pre" > install< / span > < span class = "pre" > fancy_gym[dmc]< / span > < / code > ), all regular dmc tasks are avaible via < a class = "reference external" href = "https://github.com/Farama-Foundation/Shimmy" > Shimmy< / a > .< / p >
< table class = "docutils align-default" >
< thead >
< tr class = "row-odd" > < th class = "head" > < p > Name< / p > < / th >
< th class = "head" > < p > Description< / p > < / th >
< th class = "head" > < p > Action Dim< / p > < / th >
< th class = "head" > < p > Observation Dim< / p > < / th >
< / tr >
< / thead >
< tbody >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/acrobot-swingup-v0< / span > < / code > < / p > < / td >
< td > < p > Underactuated double pendulum (Acrobot) with torque applied to the second joint to swing up and balance.< / p > < / td >
< td > < p > 1< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/acrobot-swingup_sparse-v0< / span > < / code > < / p > < / td >
< td > < p > Similar to < code class = "docutils literal notranslate" > < span class = "pre" > acrobot-swingup-v0< / span > < / code > , but with sparse rewards for achieving the swingup task.< / p > < / td >
< td > < p > 1< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/ball_in_cup-catch-v0< / span > < / code > < / p > < / td >
< td > < p > Planar ball-in-cup task where a receptacle must swing to catch a ball. Sparse reward for catching.< / p > < / td >
< td > < p > 2< / p > < / td >
< td > < p > 8< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/cartpole-balance-v0< / span > < / code > < / p > < / td >
< td > < p > Cart-pole task where the goal is to balance an unactuated pole by moving a cart, starting near upright.< / p > < / td >
< td > < p > 1< / p > < / td >
< td > < p > 5< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/cartpole-balance_sparse-v0< / span > < / code > < / p > < / td >
< td > < p > Similar to < code class = "docutils literal notranslate" > < span class = "pre" > cartpole-balance-v0< / span > < / code > , but with sparse rewards.< / p > < / td >
< td > < p > 1< / p > < / td >
< td > < p > 5< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/cartpole-swingup-v0< / span > < / code > < / p > < / td >
< td > < p > Cart-pole task with the pole starting downward, requiring swinging up and balancing.< / p > < / td >
< td > < p > 1< / p > < / td >
< td > < p > 5< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/cartpole-swingup_sparse-v0< / span > < / code > < / p > < / td >
< td > < p > Similar to < code class = "docutils literal notranslate" > < span class = "pre" > cartpole-swingup-v0< / span > < / code > , but with sparse rewards for the swingup task.< / p > < / td >
< td > < p > 1< / p > < / td >
< td > < p > 5< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/cartpole-two_poles-v0< / span > < / code > < / p > < / td >
< td > < p > Extension of the Cart-pole domain with two serially connected poles, increasing the balancing challenge.< / p > < / td >
< td > < p > 1< / p > < / td >
< td > < p > 8< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/cartpole-three_poles-v0< / span > < / code > < / p > < / td >
< td > < p > Extension of the Cart-pole domain with three serially connected poles, further increasing the challenge.< / p > < / td >
< td > < p > 1< / p > < / td >
< td > < p > 11< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/cheetah-run-v0< / span > < / code > < / p > < / td >
< td > < p > Planar bipedal cheetah robot tasked with running. The reward is proportional to forward velocity up to a maximum speed.< / p > < / td >
< td > < p > 6< / p > < / td >
< td > < p > 17< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/dog-stand-v0< / span > < / code > < / p > < / td >
< td > < p > Dog robot task focusing on achieving a standing posture.< / p > < / td >
< td > < p > 38< / p > < / td >
< td > < p > 223< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/dog-walk-v0< / span > < / code > < / p > < / td >
< td > < p > Dog robot tasked with walking, requiring coordination of movements.< / p > < / td >
< td > < p > 38< / p > < / td >
< td > < p > 223< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/dog-trot-v0< / span > < / code > < / p > < / td >
< td > < p > Dog robot performing a trotting gait.< / p > < / td >
< td > < p > 38< / p > < / td >
< td > < p > 223< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/dog-run-v0< / span > < / code > < / p > < / td >
< td > < p > Dog robot tasked with running, combining speed with stability.< / p > < / td >
< td > < p > 38< / p > < / td >
< td > < p > 223< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/dog-fetch-v0< / span > < / code > < / p > < / td >
< td > < p > Dog robot playing fetch, involving locomotion and object interaction.< / p > < / td >
< td > < p > 38< / p > < / td >
< td > < p > 232< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/finger-spin-v0< / span > < / code > < / p > < / td >
< td > < p > Finger robot required to rotate an unactuated body on a hinge.< / p > < / td >
< td > < p > 2< / p > < / td >
< td > < p > 9< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/finger-turn_easy-v0< / span > < / code > < / p > < / td >
< td > < p > Finger robot task to align the tip of a free body with a target, easier version with a larger target.< / p > < / td >
< td > < p > 2< / p > < / td >
< td > < p > 12< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/finger-turn_hard-v0< / span > < / code > < / p > < / td >
< td > < p > Similar to < code class = "docutils literal notranslate" > < span class = "pre" > finger-turn_easy-v0< / span > < / code > , but with a smaller target for increased difficulty.< / p > < / td >
< td > < p > 2< / p > < / td >
< td > < p > 12< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/fish-upright-v0< / span > < / code > < / p > < / td >
< td > < p > Fish robot task focused on righting itself in a fluid environment.< / p > < / td >
< td > < p > 5< / p > < / td >
< td > < p > 21< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/fish-swim-v0< / span > < / code > < / p > < / td >
< td > < p > Fish robot swimming to a target, incorporating fluid dynamics.< / p > < / td >
< td > < p > 5< / p > < / td >
< td > < p > 24< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/hopper-stand-v0< / span > < / code > < / p > < / td >
< td > < p > One-legged hopper robot tasked with achieving a minimal torso height.< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 15< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/hopper-hop-v0< / span > < / code > < / p > < / td >
< td > < p > One-legged hopper robot required to hop, combining height and forward velocity.< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 15< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/humanoid-stand-v0< / span > < / code > < / p > < / td >
< td > < p > Simplified humanoid robot maintaining a standing posture.< / p > < / td >
< td > < p > 21< / p > < / td >
< td > < p > 67< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/humanoid-walk-v0< / span > < / code > < / p > < / td >
< td > < p > Simplified humanoid robot walking at a specified speed.< / p > < / td >
< td > < p > 21< / p > < / td >
< td > < p > 67< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/humanoid-run-v0< / span > < / code > < / p > < / td >
< td > < p > Simplified humanoid robot running, aiming for a high horizontal speed.< / p > < / td >
< td > < p > 21< / p > < / td >
< td > < p > 67< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/humanoid-run_pure_state-v0< / span > < / code > < / p > < / td >
< td > < p > Simplified humanoid robot running with a focus on pure state control.< / p > < / td >
< td > < p > 21< / p > < / td >
< td > < p > 55< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/humanoid_CMU-stand-v0< / span > < / code > < / p > < / td >
< td > < p > Advanced humanoid robot (CMU model) maintaining a standing posture.< / p > < / td >
< td > < p > 56< / p > < / td >
< td > < p > 137< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/humanoid_CMU-walk-v0< / span > < / code > < / p > < / td >
< td > < p > Advanced humanoid robot (CMU model) walking.< / p > < / td >
< td > < p > 56< / p > < / td >
< td > < p > 137< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/humanoid_CMU-run-v0< / span > < / code > < / p > < / td >
< td > < p > Advanced humanoid robot (CMU model) running.< / p > < / td >
< td > < p > 56< / p > < / td >
< td > < p > 137< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/lqr-lqr_2_1-v0< / span > < / code > < / p > < / td >
< td > < p > Linear quadratic regulator (LQR) task with 2 masses and 1 actuator, focusing on position and control optimization.< / p > < / td >
< td > < p > 1< / p > < / td >
< td > < p > 4< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/lqr-lqr_6_2-v0< / span > < / code > < / p > < / td >
< td > < p > Linear quadratic regulator (LQR) task with 6 masses and 2 actuators, more complex control optimization challenge.< / p > < / td >
< td > < p > 2< / p > < / td >
< td > < p > 12< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/manipulator-bring_ball-v0< / span > < / code > < / p > < / td >
< td > < p > Planar manipulator robot bringing a ball to a target location, with object initialization variations.< / p > < / td >
< td > < p > 5< / p > < / td >
< td > < p > 44< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/manipulator-bring_peg-v0< / span > < / code > < / p > < / td >
< td > < p > Planar manipulator task of bringing a peg to a target peg.< / p > < / td >
< td > < p > 5< / p > < / td >
< td > < p > 44< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/manipulator-insert_ball-v0< / span > < / code > < / p > < / td >
< td > < p > Planar manipulator task requiring inserting a ball into a basket.< / p > < / td >
< td > < p > 5< / p > < / td >
< td > < p > 44< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/manipulator-insert_peg-v0< / span > < / code > < / p > < / td >
< td > < p > Planar manipulator challenge of inserting a peg into a slot.< / p > < / td >
< td > < p > 5< / p > < / td >
< td > < p > 44< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/pendulum-swingup-v0< / span > < / code > < / p > < / td >
< td > < p > Classic inverted pendulum task with a torque-limited actuator, requiring multiple swings to swing up and balance.< / p > < / td >
< td > < p > 1< / p > < / td >
< td > < p > 3< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/point_mass-easy-v0< / span > < / code > < / p > < / td >
< td > < p > Planar point mass in an easy task, with actuators corresponding to global x and y axes< / p > < / td >
< td > < p > 2< / p > < / td >
< td > < p > 4< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/point_mass-hard-v0< / span > < / code > < / p > < / td >
< td > < p > Planar point mass in a hard task, with randomized control gains per episode, challenging memoryless agents.< / p > < / td >
< td > < p > 2< / p > < / td >
< td > < p > 4< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/quadruped-walk-v0< / span > < / code > < / p > < / td >
< td > < p > Four-legged robot (Quadruped) tasked with walking.< / p > < / td >
< td > < p > 12< / p > < / td >
< td > < p > 78< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/quadruped-run-v0< / span > < / code > < / p > < / td >
< td > < p > Quadruped robot required to run, balancing speed and stability.< / p > < / td >
< td > < p > 12< / p > < / td >
< td > < p > 78< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/quadruped-escape-v0< / span > < / code > < / p > < / td >
< td > < p > Quadruped robot in an escape task, combining locomotion with environmental interaction.< / p > < / td >
< td > < p > 12< / p > < / td >
< td > < p > 101< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/quadruped-fetch-v0< / span > < / code > < / p > < / td >
< td > < p > Quadruped robot playing fetch, involving complex movements and object interaction.< / p > < / td >
< td > < p > 12< / p > < / td >
< td > < p > 90< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/reacher-easy-v0< / span > < / code > < / p > < / td >
< td > < p > Two-link planar reacher with a randomized target, easier version with a larger target sphere.< / p > < / td >
< td > < p > 2< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/reacher-hard-v0< / span > < / code > < / p > < / td >
< td > < p > Similar to < code class = "docutils literal notranslate" > < span class = "pre" > reacher-easy-v0< / span > < / code > , but with a smaller target sphere for increased difficulty.< / p > < / td >
< td > < p > 2< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/stacker-stack_2-v0< / span > < / code > < / p > < / td >
< td > < p > Stacker task requiring stacking of 2 boxes, with rewards for correct placement and gripper positioning.< / p > < / td >
< td > < p > 5< / p > < / td >
< td > < p > 49< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/stacker-stack_4-v0< / span > < / code > < / p > < / td >
< td > < p > More complex stacker task with 4 boxes, increasing the stacking challenge.< / p > < / td >
< td > < p > 5< / p > < / td >
< td > < p > 63< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/swimmer-swimmer6-v0< / span > < / code > < / p > < / td >
< td > < p > Six-link planar swimmer in fluid dynamics, rewarded for positioning the nose inside a target.< / p > < / td >
< td > < p > 5< / p > < / td >
< td > < p > 25< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/swimmer-swimmer15-v0< / span > < / code > < / p > < / td >
< td > < p > Fifteen-link planar swimmer, a more complex version of the swimmer task with extended dynamics.< / p > < / td >
< td > < p > 14< / p > < / td >
< td > < p > 61< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/walker-stand-v0< / span > < / code > < / p > < / td >
< td > < p > Planar walker robot tasked with maintaining an upright torso and minimal height.< / p > < / td >
< td > < p > 6< / p > < / td >
< td > < p > 24< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/walker-walk-v0< / span > < / code > < / p > < / td >
< td > < p > Planar walker robot walking task, focusing on forward velocity and stability.< / p > < / td >
< td > < p > 6< / p > < / td >
< td > < p > 24< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control/walker-run-v0< / span > < / code > < / p > < / td >
< td > < p > Planar walker robot running task, aiming for high speed and balance.< / p > < / td >
< td > < p > 6< / p > < / td >
< td > < p > 24< / p > < / td >
< / tr >
< / tbody >
< / table >
< / section >
< section id = "mp-environments" >
< h2 > MP Environments< a class = "headerlink" href = "#mp-environments" title = "Permalink to this heading" > < / a > < / h2 >
< table class = "docutils align-default" >
< thead >
< tr class = "row-odd" > < th class = "head" > < p > Name< / p > < / th >
< th class = "head" > < p > Description< / p > < / th >
< th class = "head" > < p > Trajectory Horizon< / p > < / th >
< th class = "head" > < p > Action Dimension< / p > < / th >
< th class = "head" > < p > Context Dimension< / p > < / th >
< / tr >
< / thead >
< tbody >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control_ProDMP/ball_in_cup-catch-v0< / span > < / code > < / p > < / td >
< td > < p > A ProMP wrapped version of the “catch” task for the “ball_in_cup” environment.< / p > < / td >
< td > < p > 1000< / p > < / td >
< td > < p > 10< / p > < / td >
< td > < p > 2< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control_DMP/ball_in_cup-catch-v0< / span > < / code > < / p > < / td >
< td > < p > A DMP wrapped version of the “catch” task for the “ball_in_cup” environment.< / p > < / td >
< td > < p > 1000< / p > < / td >
< td > < p > 10< / p > < / td >
< td > < p > 2< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control_ProDMP/reacher-easy-v0< / span > < / code > < / p > < / td >
< td > < p > A ProMP wrapped version of the “easy” task for the “reacher” environment.< / p > < / td >
< td > < p > 1000< / p > < / td >
< td > < p > 10< / p > < / td >
< td > < p > 4< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control_DMP/reacher-easy-v0< / span > < / code > < / p > < / td >
< td > < p > A DMP wrapped version of the “easy” task for the “reacher” environment.< / p > < / td >
< td > < p > 1000< / p > < / td >
< td > < p > 10< / p > < / td >
< td > < p > 4< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control_ProDMP/reacher-hard-v0< / span > < / code > < / p > < / td >
< td > < p > A ProMP wrapped version of the “hard” task for the “reacher” environment.< / p > < / td >
< td > < p > 1000< / p > < / td >
< td > < p > 10< / p > < / td >
< td > < p > 4< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > dm_control_DMP/reacher-hard-v0< / span > < / code > < / p > < / td >
< td > < p > A DMP wrapped version of the “hard” task for the “reacher” environment.< / p > < / td >
< td > < p > 1000< / p > < / td >
< td > < p > 10< / p > < / td >
< td > < p > 4< / p > < / td >
< / tr >
< / tbody >
< / table >
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