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<section id="classic-control">
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<h1>Classic Control<a class="headerlink" href="#classic-control" title="Permalink to this heading"></a></h1>
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<p>Classic Control environments provide a foundational platform for exploring and experimenting with RL algorithms. These environments are designed to be simple, allowing researchers and practitioners to focus on the fundamental principles of control without the complexities of high-dimensional and physics-based simulations.</p>
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<section id="step-based-environments">
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<h2>Step-based Environments<a class="headerlink" href="#step-based-environments" title="Permalink to this heading"></a></h2>
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<table class="docutils align-default">
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<thead>
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<tr class="row-odd"><th class="head"><p>Name</p></th>
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<th class="head"><p>Description</p></th>
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<th class="head"><p>Horizon</p></th>
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<th class="head"><p>Action Dimension</p></th>
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<th class="head"><p>Observation Dimension</p></th>
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</tr>
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</thead>
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<tbody>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/SimpleReacher-v0</span></code></p></td>
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<td><p>Simple reaching task (2 links) without any physics simulation. Provides no reward until 150 time steps. This allows the agent to explore the space, but requires precise actions towards the end of the trajectory.</p></td>
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<td><p>200</p></td>
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<td><p>2</p></td>
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<td><p>9</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/LongSimpleReacher-v0</span></code></p></td>
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<td><p>Simple reaching task (5 links) without any physics simulation. Provides no reward until 150 time steps. This allows the agent to explore the space, but requires precise actions towards the end of the trajectory.</p></td>
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<td><p>200</p></td>
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<td><p>5</p></td>
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<td><p>18</p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/ViaPointReacher-v0</span></code></p></td>
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<td><p>Simple reaching task leveraging a via point, which supports self collision detection. Provides a reward only at 100 and 199 for reaching the viapoint and goal point, respectively.</p></td>
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<td><p>200</p></td>
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<td><p>5</p></td>
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<td><p>18</p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/HoleReacher-v0</span></code></p></td>
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<td><p>5 link reaching task where the end-effector needs to reach into a narrow hole without collding with itself or walls.</p></td>
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<td><p>200</p></td>
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<td><p>5</p></td>
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<td><p>18</p></td>
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</tr>
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</tbody>
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</table>
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</section>
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<section id="mp-environments">
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<h2>MP Environments<a class="headerlink" href="#mp-environments" title="Permalink to this heading"></a></h2>
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<table class="docutils align-default">
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<thead>
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<tr class="row-odd"><th class="head"><p>Name</p></th>
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<th class="head"><p>Description</p></th>
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<th class="head"><p>Horizon</p></th>
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<th class="head"><p>Action Dimension</p></th>
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<th class="head"><p>Context Dimension</p></th>
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</tr>
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</thead>
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<tbody>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy_DMP/ViaPointReacher-v0</span></code></p></td>
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<td><p>A DMP provides a trajectory for the <code class="docutils literal notranslate"><span class="pre">fancy/ViaPointReacher-v0</span></code> task.</p></td>
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<td><p>200</p></td>
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<td><p>25</p></td>
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<td><p></p></td>
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</tr>
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<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy_DMP/HoleReacherFixedGoal-v0</span></code></p></td>
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<td><p>A DMP provides a trajectory for the <code class="docutils literal notranslate"><span class="pre">fancy/HoleReacher-v0</span></code> task with a fixed goal attractor.</p></td>
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<td><p>200</p></td>
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<td><p>25</p></td>
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<td><p></p></td>
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</tr>
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<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy_DMP/HoleReacher-v0</span></code></p></td>
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<td><p>A DMP provides a trajectory for the <code class="docutils literal notranslate"><span class="pre">fancy/HoleReacher-v0</span></code> task. The goal attractor needs to be learned.</p></td>
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<td><p>200</p></td>
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<td><p>30</p></td>
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<td><p></p></td>
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</tr>
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</tbody>
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