From e3055568e859637b1296889b5387bb9df6f7ba58 Mon Sep 17 00:00:00 2001 From: Dominik Roth Date: Fri, 29 Sep 2023 20:39:42 +0200 Subject: [PATCH] Improved README for classical controll envs --- fancy_gym/envs/classic_control/README.MD | 26 +++++++++++++----------- 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/fancy_gym/envs/classic_control/README.MD b/fancy_gym/envs/classic_control/README.MD index bd1b68b..b714554 100644 --- a/fancy_gym/envs/classic_control/README.MD +++ b/fancy_gym/envs/classic_control/README.MD @@ -1,18 +1,20 @@ ### Classic Control ## Step-based Environments -|Name| Description|Horizon|Action Dimension|Observation Dimension -|---|---|---|---|---| -|`SimpleReacher-v0`| 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.| 200 | 2 | 9 -|`LongSimpleReacher-v0`| 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.| 200 | 5 | 18 -|`ViaPointReacher-v0`| 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.| 200 | 5 | 18 -|`HoleReacher-v0`| 5 link reaching task where the end-effector needs to reach into a narrow hole without collding with itself or walls | 200 | 5 | 18 + +| Name | Description | Horizon | Action Dimension | Observation Dimension | +| ---------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- | +| `fancy/SimpleReacher-v0` | 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. | 200 | 2 | 9 | +| `fancy/LongSimpleReacher-v0` | 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. | 200 | 5 | 18 | +| `fancy/ViaPointReacher-v0` | 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. | 200 | 5 | 18 | +| `fancy/HoleReacher-v0` | 5 link reaching task where the end-effector needs to reach into a narrow hole without collding with itself or walls | 200 | 5 | 18 | ## MP Environments -|Name| Description|Horizon|Action Dimension|Context Dimension -|---|---|---|---|---| -|`ViaPointReacherDMP-v0`| A DMP provides a trajectory for the `ViaPointReacher-v0` task. | 200 | 25 -|`HoleReacherFixedGoalDMP-v0`| A DMP provides a trajectory for the `HoleReacher-v0` task with a fixed goal attractor. | 200 | 25 -|`HoleReacherDMP-v0`| A DMP provides a trajectory for the `HoleReacher-v0` task. The goal attractor needs to be learned. | 200 | 30 -[//]: |`HoleReacherProMPP-v0`| \ No newline at end of file +| Name | Description | Horizon | Action Dimension | Context Dimension | +| ----------------------------------- | -------------------------------------------------------------------------------------------------------- | ------- | ---------------- | ----------------- | +| `fancy_DMP/ViaPointReacher-v0` | A DMP provides a trajectory for the `fancy/ViaPointReacher-v0` task. | 200 | 25 | +| `fancy_DMP/HoleReacherFixedGoal-v0` | A DMP provides a trajectory for the `fancy/HoleReacher-v0` task with a fixed goal attractor. | 200 | 25 | +| `fancy_DMP/HoleReacher-v0` | A DMP provides a trajectory for the `fancy/HoleReacher-v0` task. The goal attractor needs to be learned. | 200 | 30 | + +[//]: |`fancy/HoleReacherProMPP-v0`|