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<section id="deepmind-control-dmc">
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<h1>DeepMind Control (DMC)<a class="headerlink" href="#deepmind-control-dmc" title="Permalink to this heading"></a></h1>
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<!-- TODO: Add Vid -->
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<p>These are the Environment Wrappers for selected
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<a class="reference external" href="https://github.com/google-deepmind/dm_control">DeepMind Control</a>
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environments in order to use our Motion Primitive gym interface with them.</p>
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<section id="step-based-environments">
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<h2>Step-Based Environments<a class="headerlink" href="#step-based-environments" title="Permalink to this heading"></a></h2>
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<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>
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<table class="docutils align-default">
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<thead>
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<tr class="row-odd"><th class="head"><p>Name</p></th>
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<th class="head"><p>Description</p></th>
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<th class="head"><p>Action Dim</p></th>
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<th class="head"><p>Observation Dim</p></th>
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</tr>
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</thead>
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<tbody>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/acrobot-swingup-v0</span></code></p></td>
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<td><p>Underactuated double pendulum (Acrobot) with torque applied to the second joint to swing up and balance.</p></td>
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<td><p>1</p></td>
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<td><p>6</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/acrobot-swingup_sparse-v0</span></code></p></td>
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<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>
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<td><p>1</p></td>
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<td><p>6</p></td>
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</tr>
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<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>
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<td><p>Planar ball-in-cup task where a receptacle must swing to catch a ball. Sparse reward for catching.</p></td>
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<td><p>2</p></td>
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<td><p>8</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-balance-v0</span></code></p></td>
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<td><p>Cart-pole task where the goal is to balance an unactuated pole by moving a cart, starting near upright.</p></td>
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<td><p>1</p></td>
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<td><p>5</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-balance_sparse-v0</span></code></p></td>
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<td><p>Similar to <code class="docutils literal notranslate"><span class="pre">cartpole-balance-v0</span></code>, but with sparse rewards.</p></td>
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<td><p>1</p></td>
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<td><p>5</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-swingup-v0</span></code></p></td>
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<td><p>Cart-pole task with the pole starting downward, requiring swinging up and balancing.</p></td>
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<td><p>1</p></td>
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<td><p>5</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-swingup_sparse-v0</span></code></p></td>
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<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>
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<td><p>1</p></td>
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<td><p>5</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-two_poles-v0</span></code></p></td>
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<td><p>Extension of the Cart-pole domain with two serially connected poles, increasing the balancing challenge.</p></td>
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<td><p>1</p></td>
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<td><p>8</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-three_poles-v0</span></code></p></td>
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<td><p>Extension of the Cart-pole domain with three serially connected poles, further increasing the challenge.</p></td>
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<td><p>1</p></td>
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<td><p>11</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cheetah-run-v0</span></code></p></td>
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<td><p>Planar bipedal cheetah robot tasked with running. The reward is proportional to forward velocity up to a maximum speed.</p></td>
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<td><p>6</p></td>
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<td><p>17</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/dog-stand-v0</span></code></p></td>
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<td><p>Dog robot task focusing on achieving a standing posture.</p></td>
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<td><p>38</p></td>
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<td><p>223</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/dog-walk-v0</span></code></p></td>
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<td><p>Dog robot tasked with walking, requiring coordination of movements.</p></td>
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<td><p>38</p></td>
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<td><p>223</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/dog-trot-v0</span></code></p></td>
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<td><p>Dog robot performing a trotting gait.</p></td>
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<td><p>38</p></td>
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<td><p>223</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/dog-run-v0</span></code></p></td>
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<td><p>Dog robot tasked with running, combining speed with stability.</p></td>
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<td><p>38</p></td>
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<td><p>223</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/dog-fetch-v0</span></code></p></td>
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<td><p>Dog robot playing fetch, involving locomotion and object interaction.</p></td>
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<td><p>38</p></td>
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<td><p>232</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/finger-spin-v0</span></code></p></td>
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<td><p>Finger robot required to rotate an unactuated body on a hinge.</p></td>
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<td><p>2</p></td>
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<td><p>9</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/finger-turn_easy-v0</span></code></p></td>
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<td><p>Finger robot task to align the tip of a free body with a target, easier version with a larger target.</p></td>
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<td><p>2</p></td>
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<td><p>12</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/finger-turn_hard-v0</span></code></p></td>
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<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>
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<td><p>2</p></td>
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<td><p>12</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/fish-upright-v0</span></code></p></td>
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<td><p>Fish robot task focused on righting itself in a fluid environment.</p></td>
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<td><p>5</p></td>
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<td><p>21</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/fish-swim-v0</span></code></p></td>
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<td><p>Fish robot swimming to a target, incorporating fluid dynamics.</p></td>
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<td><p>5</p></td>
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<td><p>24</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/hopper-stand-v0</span></code></p></td>
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<td><p>One-legged hopper robot tasked with achieving a minimal torso height.</p></td>
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<td><p>4</p></td>
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<td><p>15</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/hopper-hop-v0</span></code></p></td>
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<td><p>One-legged hopper robot required to hop, combining height and forward velocity.</p></td>
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<td><p>4</p></td>
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<td><p>15</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid-stand-v0</span></code></p></td>
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<td><p>Simplified humanoid robot maintaining a standing posture.</p></td>
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<td><p>21</p></td>
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<td><p>67</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid-walk-v0</span></code></p></td>
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<td><p>Simplified humanoid robot walking at a specified speed.</p></td>
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<td><p>21</p></td>
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<td><p>67</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid-run-v0</span></code></p></td>
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<td><p>Simplified humanoid robot running, aiming for a high horizontal speed.</p></td>
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<td><p>21</p></td>
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<td><p>67</p></td>
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</tr>
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<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>
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<td><p>Simplified humanoid robot running with a focus on pure state control.</p></td>
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<td><p>21</p></td>
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<td><p>55</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid_CMU-stand-v0</span></code></p></td>
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<td><p>Advanced humanoid robot (CMU model) maintaining a standing posture.</p></td>
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<td><p>56</p></td>
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<td><p>137</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid_CMU-walk-v0</span></code></p></td>
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<td><p>Advanced humanoid robot (CMU model) walking.</p></td>
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<td><p>56</p></td>
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<td><p>137</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid_CMU-run-v0</span></code></p></td>
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<td><p>Advanced humanoid robot (CMU model) running.</p></td>
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<td><p>56</p></td>
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<td><p>137</p></td>
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</tr>
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<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>
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<td><p>Linear quadratic regulator (LQR) task with 2 masses and 1 actuator, focusing on position and control optimization.</p></td>
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<td><p>1</p></td>
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<td><p>4</p></td>
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</tr>
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<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>
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<td><p>Linear quadratic regulator (LQR) task with 6 masses and 2 actuators, more complex control optimization challenge.</p></td>
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<td><p>2</p></td>
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<td><p>12</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/manipulator-bring_ball-v0</span></code></p></td>
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<td><p>Planar manipulator robot bringing a ball to a target location, with object initialization variations.</p></td>
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<td><p>5</p></td>
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<td><p>44</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/manipulator-bring_peg-v0</span></code></p></td>
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<td><p>Planar manipulator task of bringing a peg to a target peg.</p></td>
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<td><p>5</p></td>
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<td><p>44</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/manipulator-insert_ball-v0</span></code></p></td>
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<td><p>Planar manipulator task requiring inserting a ball into a basket.</p></td>
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<td><p>5</p></td>
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<td><p>44</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/manipulator-insert_peg-v0</span></code></p></td>
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<td><p>Planar manipulator challenge of inserting a peg into a slot.</p></td>
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<td><p>5</p></td>
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<td><p>44</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/pendulum-swingup-v0</span></code></p></td>
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<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>
|
|
</section>
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