diff --git a/fancy_gym/envs/mujoco/README.MD b/fancy_gym/envs/mujoco/README.MD index 0ea5a1f..ff74085 100644 --- a/fancy_gym/envs/mujoco/README.MD +++ b/fancy_gym/envs/mujoco/README.MD @@ -1,15 +1,48 @@ # Custom Mujoco tasks ## Step-based Environments -|Name| Description|Horizon|Action Dimension|Observation Dimension -|---|---|---|---|---| -|`ALRReacher-v0`|Modified (5 links) Mujoco gym's `Reacher-v2` (2 links)| 200 | 5 | 21 -|`ALRReacherSparse-v0`|Same as `ALRReacher-v0`, but the distance penalty is only provided in the last time step.| 200 | 5 | 21 -|`ALRReacherSparseBalanced-v0`|Same as `ALRReacherSparse-v0`, but the end-effector has to remain upright.| 200 | 5 | 21 -|`ALRLongReacher-v0`|Modified (7 links) Mujoco gym's `Reacher-v2` (2 links)| 200 | 7 | 27 -|`ALRLongReacherSparse-v0`|Same as `ALRLongReacher-v0`, but the distance penalty is only provided in the last time step.| 200 | 7 | 27 -|`ALRLongReacherSparseBalanced-v0`|Same as `ALRLongReacherSparse-v0`, but the end-effector has to remain upright.| 200 | 7 | 27 -|`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 -|`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 -|`ALRBallInACupGoal-v0`| Similar to `ALRBallInACupSimple-v0` but the ball needs to be caught at a specified goal position | 4000 | 7 | wip - \ No newline at end of file + +| 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 | + +\*Observation dimensions depend on configuration. + +