15 lines
1.2 KiB
Plaintext
15 lines
1.2 KiB
Plaintext
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# Custom Mujoco tasks
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## Step-based Environments
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|Name| Description|Horizon|Action Dimension|Observation Dimension
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|`ALRReacher-v0`|Modified (5 links) Mujoco gym's `Reacher-v2` (2 links)| 200 | 5 | 21
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|`ALRReacherSparse-v0`|Same as `ALRReacher-v0`, but the distance penalty is only provided in the last time step.| 200 | 5 | 21
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|`ALRReacherSparseBalanced-v0`|Same as `ALRReacherSparse-v0`, but the end-effector has to remain upright.| 200 | 5 | 21
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|`ALRLongReacher-v0`|Modified (7 links) Mujoco gym's `Reacher-v2` (2 links)| 200 | 7 | 27
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|`ALRLongReacherSparse-v0`|Same as `ALRLongReacher-v0`, but the distance penalty is only provided in the last time step.| 200 | 7 | 27
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|`ALRLongReacherSparseBalanced-v0`|Same as `ALRLongReacherSparse-v0`, but the end-effector has to remain upright.| 200 | 7 | 27
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|`ALRBallInACupSimple-v0`| Ball-in-a-cup task where a robot needs to catch a ball attached to a cup at its end-effector. | 4000 | 3 | wip
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|`ALRBallInACup-v0`| Ball-in-a-cup task where a robot needs to catch a ball attached to a cup at its end-effector | 4000 | 7 | wip
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|`ALRBallInACupGoal-v0`| Similar to `ALRBallInACupSimple-v0` but the ball needs to be caught at a specified goal position | 4000 | 7 | wip
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