DeepMind Control (DMC)

These are the Environment Wrappers for selected DeepMind Control environments in order to use our Motion Primitive gym interface with them.

Step-Based Environments

When installing fancy_gym with the optional dmc extra (e.g. pip install fancy_gym[dmc]), all regular dmc tasks are avaible via Shimmy.

Name	Description	Action Dim	Observation Dim
dm_control/acrobot-swingup-v0	Underactuated double pendulum (Acrobot) with torque applied to the second joint to swing up and balance.	1	6
dm_control/acrobot-swingup_sparse-v0	Similar to acrobot-swingup-v0, but with sparse rewards for achieving the swingup task.	1	6
dm_control/ball_in_cup-catch-v0	Planar ball-in-cup task where a receptacle must swing to catch a ball. Sparse reward for catching.	2	8
dm_control/cartpole-balance-v0	Cart-pole task where the goal is to balance an unactuated pole by moving a cart, starting near upright.	1	5
dm_control/cartpole-balance_sparse-v0	Similar to cartpole-balance-v0, but with sparse rewards.	1	5
dm_control/cartpole-swingup-v0	Cart-pole task with the pole starting downward, requiring swinging up and balancing.	1	5
dm_control/cartpole-swingup_sparse-v0	Similar to cartpole-swingup-v0, but with sparse rewards for the swingup task.	1	5
dm_control/cartpole-two_poles-v0	Extension of the Cart-pole domain with two serially connected poles, increasing the balancing challenge.	1	8
dm_control/cartpole-three_poles-v0	Extension of the Cart-pole domain with three serially connected poles, further increasing the challenge.	1	11
dm_control/cheetah-run-v0	Planar bipedal cheetah robot tasked with running. The reward is proportional to forward velocity up to a maximum speed.	6	17
dm_control/dog-stand-v0	Dog robot task focusing on achieving a standing posture.	38	223
dm_control/dog-walk-v0	Dog robot tasked with walking, requiring coordination of movements.	38	223
dm_control/dog-trot-v0	Dog robot performing a trotting gait.	38	223
dm_control/dog-run-v0	Dog robot tasked with running, combining speed with stability.	38	223
dm_control/dog-fetch-v0	Dog robot playing fetch, involving locomotion and object interaction.	38	232
dm_control/finger-spin-v0	Finger robot required to rotate an unactuated body on a hinge.	2	9
dm_control/finger-turn_easy-v0	Finger robot task to align the tip of a free body with a target, easier version with a larger target.	2	12
dm_control/finger-turn_hard-v0	Similar to finger-turn_easy-v0, but with a smaller target for increased difficulty.	2	12
dm_control/fish-upright-v0	Fish robot task focused on righting itself in a fluid environment.	5	21
dm_control/fish-swim-v0	Fish robot swimming to a target, incorporating fluid dynamics.	5	24
dm_control/hopper-stand-v0	One-legged hopper robot tasked with achieving a minimal torso height.	4	15
dm_control/hopper-hop-v0	One-legged hopper robot required to hop, combining height and forward velocity.	4	15
dm_control/humanoid-stand-v0	Simplified humanoid robot maintaining a standing posture.	21	67
dm_control/humanoid-walk-v0	Simplified humanoid robot walking at a specified speed.	21	67
dm_control/humanoid-run-v0	Simplified humanoid robot running, aiming for a high horizontal speed.	21	67
dm_control/humanoid-run_pure_state-v0	Simplified humanoid robot running with a focus on pure state control.	21	55
dm_control/humanoid_CMU-stand-v0	Advanced humanoid robot (CMU model) maintaining a standing posture.	56	137
dm_control/humanoid_CMU-walk-v0	Advanced humanoid robot (CMU model) walking.	56	137
dm_control/humanoid_CMU-run-v0	Advanced humanoid robot (CMU model) running.	56	137
dm_control/lqr-lqr_2_1-v0	Linear quadratic regulator (LQR) task with 2 masses and 1 actuator, focusing on position and control optimization.	1	4
dm_control/lqr-lqr_6_2-v0	Linear quadratic regulator (LQR) task with 6 masses and 2 actuators, more complex control optimization challenge.	2	12
dm_control/manipulator-bring_ball-v0	Planar manipulator robot bringing a ball to a target location, with object initialization variations.	5	44
dm_control/manipulator-bring_peg-v0	Planar manipulator task of bringing a peg to a target peg.	5	44
dm_control/manipulator-insert_ball-v0	Planar manipulator task requiring inserting a ball into a basket.	5	44
dm_control/manipulator-insert_peg-v0	Planar manipulator challenge of inserting a peg into a slot.	5	44
dm_control/pendulum-swingup-v0	Classic inverted pendulum task with a torque-limited actuator, requiring multiple swings to swing up and balance.	1	3
dm_control/point_mass-easy-v0	Planar point mass in an easy task, with actuators corresponding to global x and y axes	2	4
dm_control/point_mass-hard-v0	Planar point mass in a hard task, with randomized control gains per episode, challenging memoryless agents.	2	4
dm_control/quadruped-walk-v0	Four-legged robot (Quadruped) tasked with walking.	12	78
dm_control/quadruped-run-v0	Quadruped robot required to run, balancing speed and stability.	12	78
dm_control/quadruped-escape-v0	Quadruped robot in an escape task, combining locomotion with environmental interaction.	12	101
dm_control/quadruped-fetch-v0	Quadruped robot playing fetch, involving complex movements and object interaction.	12	90
dm_control/reacher-easy-v0	Two-link planar reacher with a randomized target, easier version with a larger target sphere.	2	6
dm_control/reacher-hard-v0	Similar to reacher-easy-v0, but with a smaller target sphere for increased difficulty.	2	6
dm_control/stacker-stack_2-v0	Stacker task requiring stacking of 2 boxes, with rewards for correct placement and gripper positioning.	5	49
dm_control/stacker-stack_4-v0	More complex stacker task with 4 boxes, increasing the stacking challenge.	5	63
dm_control/swimmer-swimmer6-v0	Six-link planar swimmer in fluid dynamics, rewarded for positioning the nose inside a target.	5	25
dm_control/swimmer-swimmer15-v0	Fifteen-link planar swimmer, a more complex version of the swimmer task with extended dynamics.	14	61
dm_control/walker-stand-v0	Planar walker robot tasked with maintaining an upright torso and minimal height.	6	24
dm_control/walker-walk-v0	Planar walker robot walking task, focusing on forward velocity and stability.	6	24
dm_control/walker-run-v0	Planar walker robot running task, aiming for high speed and balance.	6	24

MP Environments

Name	Description	Trajectory Horizon	Action Dimension	Context Dimension
dm_control_ProDMP/ball_in_cup-catch-v0	A ProMP wrapped version of the “catch” task for the “ball_in_cup” environment.	1000	10	2
dm_control_DMP/ball_in_cup-catch-v0	A DMP wrapped version of the “catch” task for the “ball_in_cup” environment.	1000	10	2
dm_control_ProDMP/reacher-easy-v0	A ProMP wrapped version of the “easy” task for the “reacher” environment.	1000	10	4
dm_control_DMP/reacher-easy-v0	A DMP wrapped version of the “easy” task for the “reacher” environment.	1000	10	4
dm_control_ProDMP/reacher-hard-v0	A ProMP wrapped version of the “hard” task for the “reacher” environment.	1000	10	4
dm_control_DMP/reacher-hard-v0	A DMP wrapped version of the “hard” task for the “reacher” environment.	1000	10	4