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Saran Tunyasuvunakool, Alistair Muldal, Yotam Doron, Siqi Liu, Steven Bohez, Josh Merel, Tom Erez, Timothy P. Lillicrap, Nicolas Heess, Yuval Tassa. dm_control: Software and tasks for continuous control. Softw. Impacts, 6:100022, 2020. [doi]