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0.3.0
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< section id = "metaworld" >
< h1 > Metaworld< a class = "headerlink" href = "#metaworld" title = "Permalink to this heading" > < / a > < / h1 >
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< img src = "../_static/imgs/env_gifs/Metaworld.gif" style = "margin: 5%; width: 45%;" >
< p > Metaworld Dial Turn Task (metaworld/dial-turn-v2)< / p >
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< br >
< p > < a class = "reference external" href = "https://meta-world.github.io/" > Metaworld< / a > is an open-source simulated benchmark designed to advance meta-reinforcement learning and multi-task learning, comprising 50 diverse robotic manipulation tasks. The benchmark features a universal tabletop environment equipped with a simulated Sawyer arm and a variety of everyday objects. This shared environment is pivotal for reusing structured learning and efficiently acquiring related tasks.< / p >
< section id = "step-based-environments" >
< h2 > Step-Based Environments< a class = "headerlink" href = "#step-based-environments" title = "Permalink to this heading" > < / a > < / h2 >
< p > < code class = "docutils literal notranslate" > < span class = "pre" > fancy_gym< / span > < / code > makes all metaworld ML1 tasks avaible via the standard gym interface.< / p >
< table class = "docutils align-default" >
< thead >
< tr class = "row-odd" > < th class = "head" > < p > Name< / p > < / th >
< th class = "head" > < p > Description< / p > < / th >
< th class = "head" > < p > Horizon< / p > < / th >
< th class = "head" > < p > Action Dimension< / p > < / th >
< th class = "head" > < p > Observation Dimension< / p > < / th >
< th class = "head" > < p > Context Dimension< / p > < / th >
< / tr >
< / thead >
< tbody >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/assembly-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must assemble components.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/basketball-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must play a game of basketball.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/bin-picking-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot picking objects from a bin.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/box-close-v2< / span > < / code > < / p > < / td >
< td > < p > A task requiring the robot to close a box.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/button-press-topdown-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must press a button from a top-down perspective.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/button-press-topdown-wall-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot pressing a button with a wall from a top-down perspective.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/button-press-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must press a button.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/button-press-wall-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot pressing a button with a wall.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/coffee-button-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must press a button on a coffee machine.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/coffee-pull-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot pulling a lever on a coffee machine.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/coffee-push-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot pushing a component on a coffee machine.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/dial-turn-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must turn a dial.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/disassemble-v2< / span > < / code > < / p > < / td >
< td > < p > A task requiring the robot to disassemble an object.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/door-close-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must close a door.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/door-lock-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot locking a door.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/door-open-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must open a door.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/door-unlock-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot unlocking a door.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/hand-insert-v2< / span > < / code > < / p > < / td >
< td > < p > A task requiring the robot to insert a hand into an object.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/drawer-close-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must close a drawer.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/drawer-open-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot opening a drawer.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/faucet-open-v2< / span > < / code > < / p > < / td >
< td > < p > A task requiring the robot to open a faucet.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/faucet-close-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must close a faucet.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/hammer-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must use a hammer.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/handle-press-side-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot pressing a handle from the side.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/handle-press-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must press a handle.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/handle-pull-side-v2< / span > < / code > < / p > < / td >
< td > < p > A task requiring the robot to pull a handle from the side.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/handle-pull-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must pull a handle.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/lever-pull-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot pulling a lever.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/peg-insert-side-v2< / span > < / code > < / p > < / td >
< td > < p > A task requiring the robot to insert a peg from the side.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/pick-place-wall-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot picking and placing an object with a wall.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/pick-out-of-hole-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must pick an object out of a hole.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/reach-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must reach an object.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/push-back-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot pushing an object backward.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/push-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must push an object.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/pick-place-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot picking up and placing an object.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/plate-slide-v2< / span > < / code > < / p > < / td >
< td > < p > A task requiring the robot to slide a plate.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/plate-slide-side-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot sliding a plate from the side.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/plate-slide-back-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must slide a plate backward.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/plate-slide-back-side-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot sliding a plate backward from the side.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/peg-unplug-side-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must unplug a peg from the side.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/soccer-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must play soccer.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/stick-push-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot pushing a stick.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/stick-pull-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must pull a stick.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/push-wall-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot pushing against a wall.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/reach-wall-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must reach an object with a wall.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/shelf-place-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot placing an object on a shelf.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/sweep-into-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must sweep objects into a container.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/sweep-v2< / span > < / code > < / p > < / td >
< td > < p > A task requiring the robot to sweep.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-even" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/window-open-v2< / span > < / code > < / p > < / td >
< td > < p > A task where the robot must open a window.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< tr class = "row-odd" > < td > < p > < code class = "docutils literal notranslate" > < span class = "pre" > metaworld/window-close-v2< / span > < / code > < / p > < / td >
< td > < p > A task involving the robot closing a window.< / p > < / td >
< td > < p > 150< / p > < / td >
< td > < p > 4< / p > < / td >
< td > < p > 39< / p > < / td >
< td > < p > 6< / p > < / td >
< / tr >
< / tbody >
< / table >
< / section >
< section id = "mp-environments" >
< h2 > MP Environments< a class = "headerlink" href = "#mp-environments" title = "Permalink to this heading" > < / a > < / h2 >
< p > All envs also exist in MP-variants. Refer to them using < code class = "docutils literal notranslate" > < span class = "pre" > metaworld_ProMP/< name-v2> < / span > < / code > or < code class = "docutils literal notranslate" > < span class = "pre" > metaworld_ProDMP/< name-v2> < / span > < / code > (DMP is currently not supported as of now).< / p >
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