gym-mupen64plus
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Custom video driver
One thought I had was to build a custom video driver for mupen64plus which could directly feed the game pixel data to the environment. The video driver already has the pixel data, so it seems like the screenshot business is unnecessary overhead. This is also a potential alternative to #2, or could go hand-in-hand anyway.
Definitely an interesting idea. I like the sound of the xvfb support in #2 since the de-coupling here is kind of nice. Ideally we wouldn't write a full video plugin but rather just hook into the existing one to get the data we need directly.