From a0a4952539faa29038afe6dc975469c85a9198cd Mon Sep 17 00:00:00 2001 From: Dominik Roth Date: Thu, 18 Jan 2024 10:04:00 +0100 Subject: [PATCH] Reordered stuff in mujoco.md --- docs/source/envs/fancy/mujoco.md | 104 +++++++++++++++++++++---------- 1 file changed, 71 insertions(+), 33 deletions(-) diff --git a/docs/source/envs/fancy/mujoco.md b/docs/source/envs/fancy/mujoco.md index 993bd7a..5ed221b 100644 --- a/docs/source/envs/fancy/mujoco.md +++ b/docs/source/envs/fancy/mujoco.md @@ -2,39 +2,77 @@ ## Step-based Environments -| Name | Description | Horizon | Action Dimension | Observation Dimension | -| ------------------------------------------ | -------------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- | -| `fancy/Reacher-v0` | Modified (5 links) gymnasiums's mujoco `Reacher-v2` (2 links) | 200 | 5 | 21 | -| `fancy/ReacherSparse-v0` | Same as `fancy/Reacher-v0`, but the distance penalty is only provided in the last time step. | 200 | 5 | 21 | -| `fancy/ReacherSparseBalanced-v0` | Same as `fancy/ReacherSparse-v0`, but the end-effector has to remain upright. | 200 | 5 | 21 | -| `fancy/LongReacher-v0` | Modified (7 links) gymnasiums's mujoco `Reacher-v2` (2 links) | 200 | 7 | 27 | -| `fancy/LongReacherSparse-v0` | Same as `fancy/LongReacher-v0`, but the distance penalty is only provided in the last time step. | 200 | 7 | 27 | -| `fancy/LongReacherSparseBalanced-v0` | Same as `fancy/LongReacherSparse-v0`, but the end-effector has to remain upright. | 200 | 7 | 27 | -| `fancy/Reacher5d-v0` | Reacher task with 5 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 5 | 20 | -| `fancy/Reacher5dSparse-v0` | Sparse Reacher task with 5 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 5 | 20 | -| `fancy/Reacher7d-v0` | Reacher task with 7 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 7 | 22 | -| `fancy/Reacher7dSparse-v0` | Sparse Reacher task with 7 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 7 | 22 | -| `fancy/HopperJumpSparse-v0` | Hopper Jump task with sparse rewards, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 15 / 16\* | -| `fancy/HopperJump-v0` | Hopper Jump task with continuous rewards, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 15 / 16\* | -| `fancy/AntJump-v0` | Ant Jump task, based on Gymnasium's `gym.envs.mujoco.Ant` | 200 | 8 | 119 | -| `fancy/HalfCheetahJump-v0` | HalfCheetah Jump task, based on Gymnasium's `gym.envs.mujoco.HalfCheetah` | 100 | 6 | 112 | -| `fancy/HopperJumpOnBox-v0` | Hopper Jump on Box task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 4 | 16 / 100\* | -| `fancy/HopperThrow-v0` | Hopper Throw task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 18 / 100\* | -| `fancy/HopperThrowInBasket-v0` | Hopper Throw in Basket task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 18 / 100\* | -| `fancy/Walker2DJump-v0` | Walker 2D Jump task, based on Gymnasium's `gym.envs.mujoco.Walker2d` | 300 | 6 | 18 / 19\* | -| `fancy/BeerPong-v0` | Beer Pong task, based on a custom environment with multiple task variations | 300 | 3 | 29 | -| `fancy/BeerPongStepBased-v0` | Step-based Beer Pong task, based on a custom environment with episodic rewards | 300 | 3 | 29 | -| `fancy/BeerPongFixedRelease-v0` | Beer Pong with fixed release, based on a custom environment with episodic rewards | 300 | 3 | 29 | -| `fancy/BoxPushingDense-v0` | Custom Box-pushing task with dense rewards | 100 | 3 | 13 | -| `fancy/BoxPushingTemporalSparse-v0` | Custom Box-pushing task with temporally sparse rewards | 100 | 3 | 13 | -| `fancy/BoxPushingTemporalSpatialSparse-v0` | Custom Box-pushing task with temporally and spatially sparse rewards | 100 | 3 | 13 | -| `fancy/TableTennis2D-v0` | Table Tennis task with 2D context, based on a custom environment for table tennis | 350 | 7 | 19 | -| `fancy/TableTennis2DReplan-v0` | Table Tennis task with 2D context and replanning, based on a custom environment for table tennis | 350 | 7 | 19 | -| `fancy/TableTennis4D-v0` | Table Tennis task with 4D context, based on a custom environment for table tennis | 350 | 7 | 22 | -| `fancy/TableTennis4DReplan-v0` | Table Tennis task with 4D context and replanning, based on a custom environment for table tennis | 350 | 7 | 22 | -| `fancy/TableTennisWind-v0` | Table Tennis task with wind effects, based on a custom environment for table tennis | 350 | 7 | 19 | -| `fancy/TableTennisGoalSwitching-v0` | Table Tennis task with goal switching, based on a custom environment for table tennis | 350 | 7 | 19 | -| `fancy/TableTennisWindReplan-v0` | Table Tennis task with wind effects and replanning, based on a custom environment for table tennis | 350 | 7 | 19 | +### Environments made by Fancy Gym + +#### Beer Pong + +TODO: Change image + +
+ +
+
+ +| Name | Description | Horizon | Action Dimension | Observation Dimension | +| ------------------------------- | ---------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- | +| `fancy/BeerPong-v0` | Beer Pong task, based on a custom environment with multiple task variations | 300 | 3 | 29 | +| `fancy/BeerPongStepBased-v0` | Step-based rewards for the Beer Pong task, based on a custom environment with episodic rewards | 300 | 3 | 29 | +| `fancy/BeerPongFixedRelease-v0` | Beer Pong with fixed release, based on a custom environment with episodic rewards | 300 | 3 | 29 | + +#### Box Pushing + +
+ +
+
+ +| Name | Description | Horizon | Action Dimension | Observation Dimension | +| ------------------------------------------ | -------------------------------------------------------------------- | ------- | ---------------- | --------------------- | +| `fancy/BoxPushingDense-v0` | Custom Box-pushing task with dense rewards | 100 | 3 | 13 | +| `fancy/BoxPushingTemporalSparse-v0` | Custom Box-pushing task with temporally sparse rewards | 100 | 3 | 13 | +| `fancy/BoxPushingTemporalSpatialSparse-v0` | Custom Box-pushing task with temporally and spatially sparse rewards | 100 | 3 | 13 | + +#### Table Tennis + +TODO: Change image + +
+ +
+
+ +| Name | Description | Horizon | Action Dimension | Observation Dimension | +| ----------------------------------- | -------------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- | +| `fancy/TableTennis2D-v0` | Table Tennis task with 2D context, based on a custom environment for table tennis | 350 | 7 | 19 | +| `fancy/TableTennis2DReplan-v0` | Table Tennis task with 2D context and replanning, based on a custom environment for table tennis | 350 | 7 | 19 | +| `fancy/TableTennis4D-v0` | Table Tennis task with 4D context, based on a custom environment for table tennis | 350 | 7 | 22 | +| `fancy/TableTennis4DReplan-v0` | Table Tennis task with 4D context and replanning, based on a custom environment for table tennis | 350 | 7 | 22 | +| `fancy/TableTennisWind-v0` | Table Tennis task with wind effects, based on a custom environment for table tennis | 350 | 7 | 19 | +| `fancy/TableTennisGoalSwitching-v0` | Table Tennis task with goal switching, based on a custom environment for table tennis | 350 | 7 | 19 | +| `fancy/TableTennisWindReplan-v0` | Table Tennis task with wind effects and replanning, based on a custom environment for table tennis | 350 | 7 | 19 | + +### Variations of existing environments + +| Name | Description | Horizon | Action Dimension | Observation Dimension | +| ------------------------------------ | ------------------------------------------------------------------------------------------------ | ------- | ---------------- | --------------------- | +| `fancy/Reacher-v0` | Modified (5 links) gymnasiums's mujoco `Reacher-v2` (2 links) | 200 | 5 | 21 | +| `fancy/ReacherSparse-v0` | Same as `fancy/Reacher-v0`, but the distance penalty is only provided in the last time step. | 200 | 5 | 21 | +| `fancy/ReacherSparseBalanced-v0` | Same as `fancy/ReacherSparse-v0`, but the end-effector has to remain upright. | 200 | 5 | 21 | +| `fancy/LongReacher-v0` | Modified (7 links) gymnasiums's mujoco `Reacher-v2` (2 links) | 200 | 7 | 27 | +| `fancy/LongReacherSparse-v0` | Same as `fancy/LongReacher-v0`, but the distance penalty is only provided in the last time step. | 200 | 7 | 27 | +| `fancy/LongReacherSparseBalanced-v0` | Same as `fancy/LongReacherSparse-v0`, but the end-effector has to remain upright. | 200 | 7 | 27 | +| `fancy/Reacher5d-v0` | Reacher task with 5 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 5 | 20 | +| `fancy/Reacher5dSparse-v0` | Sparse Reacher task with 5 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 5 | 20 | +| `fancy/Reacher7d-v0` | Reacher task with 7 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 7 | 22 | +| `fancy/Reacher7dSparse-v0` | Sparse Reacher task with 7 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 7 | 22 | +| `fancy/HopperJumpSparse-v0` | Hopper Jump task with sparse rewards, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 15 / 16\* | +| `fancy/HopperJump-v0` | Hopper Jump task with continuous rewards, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 15 / 16\* | +| `fancy/AntJump-v0` | Ant Jump task, based on Gymnasium's `gym.envs.mujoco.Ant` | 200 | 8 | 119 | +| `fancy/HalfCheetahJump-v0` | HalfCheetah Jump task, based on Gymnasium's `gym.envs.mujoco.HalfCheetah` | 100 | 6 | 112 | +| `fancy/HopperJumpOnBox-v0` | Hopper Jump on Box task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 4 | 16 / 100\* | +| `fancy/HopperThrow-v0` | Hopper Throw task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 18 / 100\* | +| `fancy/HopperThrowInBasket-v0` | Hopper Throw in Basket task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 18 / 100\* | +| `fancy/Walker2DJump-v0` | Walker 2D Jump task, based on Gymnasium's `gym.envs.mujoco.Walker2d` | 300 | 6 | 18 / 19\* | \*Observation dimensions depend on configuration.