diff --git a/README.md b/README.md
index 3aa72f4..a7be678 100644
--- a/README.md
+++ b/README.md
@@ -44,6 +44,13 @@ This is not an official Google product.
 There are several options for getting started with Dopamine, depending on your
 use case.
 
+### Prerequisites
+
+* Atari: To run Atari environments with Dopamine, install the atari roms
+following the instructions from [atari-py](https://github.com/openai/atari-py#roms).
+* Mujoco: To use Dopamine for continuous control, install Mujoco and get a
+license. See instructions [here](https://github.com/openai/mujoco-py#install-mujoco).
+
 ### Installing from Source
 
 
@@ -85,7 +92,7 @@ export PYTHONPATH=$PYTHONPATH:$PWD
 python -m tests.dopamine.atari_init_test
 ```
 
-### Next Steps
+## Next Steps
 
 View the [docs][docs] for more information on training agents.
 
@@ -94,7 +101,7 @@ We supply [baselines][baselines] for each Dopamine agent.
 We also provide a set of [Colaboratory notebooks](https://github.com/google/dopamine/tree/master/dopamine/colab)
 which demonstrate how to use Dopamine.
 
-### References
+## References
 
 [Bellemare et al., *The Arcade Learning Environment: An evaluation platform for
 general agents*. Journal of Artificial Intelligence Research, 2013.][ale]
@@ -115,7 +122,7 @@ Conference on Learning Representations, 2016.][prioritized_replay]
 [Haarnoja et al., *Soft Actor-Critic Algorithms and Applications*,
 arXiv preprint arXiv:1812.05905, 2018.][sac]
 
-### Giving credit
+## Giving credit
 
 If you use Dopamine in your work, we ask that you cite our
 [white paper][dopamine_paper]. Here is an example BibTeX entry:
diff --git a/dopamine/continuous_domains/train.py b/dopamine/continuous_domains/train.py
index c0ad412..dd2bce6 100644
--- a/dopamine/continuous_domains/train.py
+++ b/dopamine/continuous_domains/train.py
@@ -41,6 +41,9 @@ def main(unused_argv):
     unused_argv: Arguments (unused).
   """
   logging.set_verbosity(logging.INFO)
+  base_dir = FLAGS.base_dir
+  gin_files = FLAGS.gin_files
+  gin_bindings = FLAGS.gin_bindings
 
   run_experiment.load_gin_configs(gin_files, gin_bindings)
   runner = run_experiment.create_continuous_runner(base_dir)
diff --git a/dopamine/discrete_domains/gym_lib.py b/dopamine/discrete_domains/gym_lib.py
index 8770bc6..4ff8b9c 100644
--- a/dopamine/discrete_domains/gym_lib.py
+++ b/dopamine/discrete_domains/gym_lib.py
@@ -58,6 +58,9 @@
 gin.constant('gym_lib.MOUNTAINCAR_STACK_SIZE', 1)
 
 
+MUJOCO_GAMES = ('Ant', 'HalfCheetah', 'Hopper', 'Humanoid', 'Walker2d')
+
+
 @gin.configurable
 def create_gym_environment(environment_name=None, version='v0'):
   """Wraps a Gym environment with some basic preprocessing.
@@ -70,6 +73,8 @@ def create_gym_environment(environment_name=None, version='v0'):
     A Gym environment with some standard preprocessing.
   """
   assert environment_name is not None
+
+
   full_game_name = '{}-{}'.format(environment_name, version)
   env = gym.make(full_game_name)
   # Strip out the TimeLimit wrapper from Gym, which caps us at 200 steps.
diff --git a/dopamine/jax/agents/sac/configs/sac.gin b/dopamine/jax/agents/sac/configs/sac.gin
index e1c892e..04e2bf4 100644
--- a/dopamine/jax/agents/sac/configs/sac.gin
+++ b/dopamine/jax/agents/sac/configs/sac.gin
@@ -28,12 +28,10 @@ create_optimizer.beta1 = 0.9
 create_optimizer.beta2 = 0.999
 create_optimizer.eps = 1.0e-8
 
-create_gym_environment.environment_name = 'DM-HalfCheetah'
+create_gym_environment.environment_name = 'HalfCheetah'
 create_gym_environment.version = 'v2'
 create_continuous_runner.schedule = 'continuous_train_and_eval'
 create_continuous_agent.agent_name = 'sac'
-deepmind_control_lib.create_deepmind_control_environment.use_image_observations = False
-DeepmindControlPreprocessing.action_repeat = 1
 ContinuousTrainRunner.create_environment_fn = @gym_lib.create_gym_environment
 ContinuousRunner.num_iterations = 3200
 ContinuousRunner.training_steps = 1000
@@ -43,3 +41,4 @@ ContinuousRunner.clip_rewards = False
 
 circular_replay_buffer.OutOfGraphReplayBuffer.replay_capacity = 1000000
 circular_replay_buffer.OutOfGraphReplayBuffer.batch_size = 256
+
diff --git a/requirements.txt b/requirements.txt
index 70b12c2..cee5649 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -24,6 +24,7 @@ kiwisolver>=1.2.0
 Markdown>=3.2.2
 matplotlib>=3.3.0
 msgpack>=1.0.0
+mujoco-py<2.1,>=2.0
 numpy>=1.18.5
 oauthlib>=3.1.0
 opencv-python>=4.3.0.36
@@ -48,6 +49,7 @@ tensorboard
 tensorboard-plugin-wit
 tensorflow
 tensorflow-estimator
+tensorflow-probability>=0.13.0
 termcolor>=1.1.0
 tf-slim>=1.1.0
 urllib3>=1.25.10