1.2 KiB
1.2 KiB
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 |