This task involves a 3-link swimming robot in a viscous fluid, where the goal is to make it swim forward as fast as possible, by actuating the two joints. The origins of task can be traced back to Remi Coulom's thesis [1].

[1]R Coulom. "Reinforcement Learning Using Neural Networks, with Applications to Motor Control". PhD thesis, Institut National Polytechnique de Grenoble, 2002.
RandomAgent on Swimmer-v2