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<section id="metaworld">
<h1>Metaworld<a class="headerlink" href="#metaworld" title="Permalink to this heading"></a></h1>
<div class='center'>
<img src="../_static/imgs/env_gifs/Metaworld.gif" style="margin: 5%; width: 45%;">
<p>Metaworld Dial Turn Task (metaworld/dial-turn-v2)</p>
</div>
<br>
<p><a class="reference external" href="https://meta-world.github.io/">Metaworld</a> is an open-source simulated benchmark designed to advance meta-reinforcement learning and multi-task learning, comprising 50 diverse robotic manipulation tasks. The benchmark features a universal tabletop environment equipped with a simulated Sawyer arm and a variety of everyday objects. This shared environment is pivotal for reusing structured learning and efficiently acquiring related tasks.</p>
<section id="step-based-environments">
<h2>Step-Based Environments<a class="headerlink" href="#step-based-environments" title="Permalink to this heading"></a></h2>
<p><code class="docutils literal notranslate"><span class="pre">fancy_gym</span></code> makes all metaworld ML1 tasks avaible via the standard gym interface.</p>
<table class="docutils align-default">
<thead>
<tr class="row-odd"><th class="head"><p>Name</p></th>
<th class="head"><p>Description</p></th>
<th class="head"><p>Horizon</p></th>
<th class="head"><p>Action Dimension</p></th>
<th class="head"><p>Observation Dimension</p></th>
<th class="head"><p>Context Dimension</p></th>
</tr>
</thead>
<tbody>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/assembly-v2</span></code></p></td>
<td><p>A task where the robot must assemble components.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/basketball-v2</span></code></p></td>
<td><p>A task where the robot must play a game of basketball.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/bin-picking-v2</span></code></p></td>
<td><p>A task involving the robot picking objects from a bin.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/box-close-v2</span></code></p></td>
<td><p>A task requiring the robot to close a box.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/button-press-topdown-v2</span></code></p></td>
<td><p>A task where the robot must press a button from a top-down perspective.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/button-press-topdown-wall-v2</span></code></p></td>
<td><p>A task involving the robot pressing a button with a wall from a top-down perspective.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/button-press-v2</span></code></p></td>
<td><p>A task where the robot must press a button.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/button-press-wall-v2</span></code></p></td>
<td><p>A task involving the robot pressing a button with a wall.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/coffee-button-v2</span></code></p></td>
<td><p>A task where the robot must press a button on a coffee machine.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/coffee-pull-v2</span></code></p></td>
<td><p>A task involving the robot pulling a lever on a coffee machine.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/coffee-push-v2</span></code></p></td>
<td><p>A task involving the robot pushing a component on a coffee machine.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/dial-turn-v2</span></code></p></td>
<td><p>A task where the robot must turn a dial.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/disassemble-v2</span></code></p></td>
<td><p>A task requiring the robot to disassemble an object.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/door-close-v2</span></code></p></td>
<td><p>A task where the robot must close a door.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/door-lock-v2</span></code></p></td>
<td><p>A task involving the robot locking a door.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/door-open-v2</span></code></p></td>
<td><p>A task where the robot must open a door.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/door-unlock-v2</span></code></p></td>
<td><p>A task involving the robot unlocking a door.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/hand-insert-v2</span></code></p></td>
<td><p>A task requiring the robot to insert a hand into an object.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/drawer-close-v2</span></code></p></td>
<td><p>A task where the robot must close a drawer.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/drawer-open-v2</span></code></p></td>
<td><p>A task involving the robot opening a drawer.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/faucet-open-v2</span></code></p></td>
<td><p>A task requiring the robot to open a faucet.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/faucet-close-v2</span></code></p></td>
<td><p>A task where the robot must close a faucet.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/hammer-v2</span></code></p></td>
<td><p>A task where the robot must use a hammer.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/handle-press-side-v2</span></code></p></td>
<td><p>A task involving the robot pressing a handle from the side.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/handle-press-v2</span></code></p></td>
<td><p>A task where the robot must press a handle.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/handle-pull-side-v2</span></code></p></td>
<td><p>A task requiring the robot to pull a handle from the side.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/handle-pull-v2</span></code></p></td>
<td><p>A task where the robot must pull a handle.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/lever-pull-v2</span></code></p></td>
<td><p>A task involving the robot pulling a lever.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/peg-insert-side-v2</span></code></p></td>
<td><p>A task requiring the robot to insert a peg from the side.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/pick-place-wall-v2</span></code></p></td>
<td><p>A task involving the robot picking and placing an object with a wall.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/pick-out-of-hole-v2</span></code></p></td>
<td><p>A task where the robot must pick an object out of a hole.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/reach-v2</span></code></p></td>
<td><p>A task where the robot must reach an object.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/push-back-v2</span></code></p></td>
<td><p>A task involving the robot pushing an object backward.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/push-v2</span></code></p></td>
<td><p>A task where the robot must push an object.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/pick-place-v2</span></code></p></td>
<td><p>A task involving the robot picking up and placing an object.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/plate-slide-v2</span></code></p></td>
<td><p>A task requiring the robot to slide a plate.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/plate-slide-side-v2</span></code></p></td>
<td><p>A task involving the robot sliding a plate from the side.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/plate-slide-back-v2</span></code></p></td>
<td><p>A task where the robot must slide a plate backward.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/plate-slide-back-side-v2</span></code></p></td>
<td><p>A task involving the robot sliding a plate backward from the side.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/peg-unplug-side-v2</span></code></p></td>
<td><p>A task where the robot must unplug a peg from the side.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/soccer-v2</span></code></p></td>
<td><p>A task where the robot must play soccer.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/stick-push-v2</span></code></p></td>
<td><p>A task involving the robot pushing a stick.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/stick-pull-v2</span></code></p></td>
<td><p>A task where the robot must pull a stick.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/push-wall-v2</span></code></p></td>
<td><p>A task involving the robot pushing against a wall.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/reach-wall-v2</span></code></p></td>
<td><p>A task where the robot must reach an object with a wall.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/shelf-place-v2</span></code></p></td>
<td><p>A task involving the robot placing an object on a shelf.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/sweep-into-v2</span></code></p></td>
<td><p>A task where the robot must sweep objects into a container.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/sweep-v2</span></code></p></td>
<td><p>A task requiring the robot to sweep.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/window-open-v2</span></code></p></td>
<td><p>A task where the robot must open a window.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/window-close-v2</span></code></p></td>
<td><p>A task involving the robot closing a window.</p></td>
<td><p>150</p></td>
<td><p>4</p></td>
<td><p>39</p></td>
<td><p>6</p></td>
</tr>
</tbody>
</table>
</section>
<section id="mp-environments">
<h2>MP Environments<a class="headerlink" href="#mp-environments" title="Permalink to this heading"></a></h2>
<p>All envs also exist in MP-variants. Refer to them using <code class="docutils literal notranslate"><span class="pre">metaworld_ProMP/<name-v2></span></code> or <code class="docutils literal notranslate"><span class="pre">metaworld_ProDMP/<name-v2></span></code> (DMP is currently not supported as of now).</p>
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