dm_control is Google DeepMind's Python library for physics-based simulation and reinforcement learning, built on the MuJoCo physics engine. It provides a comprehensive suite of benchmark RL tasks (cartpole, cheetah, humanoid, etc.), a modular composer framework for constructing custom environments from reusable entities and tasks, locomotion and manipulation domains, multi-agent soccer, motion capture integration for imitation learning, and an interactive viewer. The architecture is library-based with subpackages for core MuJoCo bindings, MJCF model manipulation, environment composition, and rendering. Key entry points include suite.load() for standard tasks, composer.Environment for custom environments, and viewer.launch() for interactive visualization. The codebase is well-tested, actively maintained, and demonstrates strong engineering practices with clean abstractions like the variation system, observable framework, and named indexing.
This repository provides an end-to-end reinforcement learning framework for Unitree legged robots (Go2, G1, H1, H2, A2, AS2, R1). It uses MuJoCo physics (via the custom `mjlab` package) to simulate locomotion and motion imitation tasks. The codebase includes training scripts (`scripts/train.py`) that run PPO (from `rsl_rl`) with configurable network architectures and multi-GPU support, exporting trained policies to ONNX format. The `deploy/` directory contains C++ applications that execute these policies on real hardware using ONNX Runtime and Unitree SDK2, orchestrated by a finite state machine. The system is split into two main tasks: velocity tracking (gait generation) and motion tracking (whole-body imitation from reference trajectories). Key architectural patterns include manager-based environment configuration, composable MDP terms (rewards, observations, terminations), curriculum learning, and a YAML-driven FSM for deployment. The repository is actively maintained, with recent commits and bundled third-party dependencies (MuJoCo binaries, ONNX Runtime) for cross-platform deployment.