fancy_gym/docs/source/envs/meta.md

Metaworld

Metaworld 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.

Step-Based Environments

fancy_gym makes all metaworld ML1 tasks avaible via the standard gym interface.

Name	Description	Horizon	Action Dimension	Observation Dimension	Context Dimension
metaworld/assembly-v2	A task where the robot must assemble components.	150	4	39	6
metaworld/basketball-v2	A task where the robot must play a game of basketball.	150	4	39	6
metaworld/bin-picking-v2	A task involving the robot picking objects from a bin.	150	4	39	6
metaworld/box-close-v2	A task requiring the robot to close a box.	150	4	39	6
metaworld/button-press-topdown-v2	A task where the robot must press a button from a top-down perspective.	150	4	39	6
metaworld/button-press-topdown-wall-v2	A task involving the robot pressing a button with a wall from a top-down perspective.	150	4	39	6
metaworld/button-press-v2	A task where the robot must press a button.	150	4	39	6
metaworld/button-press-wall-v2	A task involving the robot pressing a button with a wall.	150	4	39	6
metaworld/coffee-button-v2	A task where the robot must press a button on a coffee machine.	150	4	39	6
metaworld/coffee-pull-v2	A task involving the robot pulling a lever on a coffee machine.	150	4	39	6
metaworld/coffee-push-v2	A task involving the robot pushing a component on a coffee machine.	150	4	39	6
metaworld/dial-turn-v2	A task where the robot must turn a dial.	150	4	39	6
metaworld/disassemble-v2	A task requiring the robot to disassemble an object.	150	4	39	6
metaworld/door-close-v2	A task where the robot must close a door.	150	4	39	6
metaworld/door-lock-v2	A task involving the robot locking a door.	150	4	39	6
metaworld/door-open-v2	A task where the robot must open a door.	150	4	39	6
metaworld/door-unlock-v2	A task involving the robot unlocking a door.	150	4	39	6
metaworld/hand-insert-v2	A task requiring the robot to insert a hand into an object.	150	4	39	6
metaworld/drawer-close-v2	A task where the robot must close a drawer.	150	4	39	6
metaworld/drawer-open-v2	A task involving the robot opening a drawer.	150	4	39	6
metaworld/faucet-open-v2	A task requiring the robot to open a faucet.	150	4	39	6
metaworld/faucet-close-v2	A task where the robot must close a faucet.	150	4	39	6
metaworld/hammer-v2	A task where the robot must use a hammer.	150	4	39	6
metaworld/handle-press-side-v2	A task involving the robot pressing a handle from the side.	150	4	39	6
metaworld/handle-press-v2	A task where the robot must press a handle.	150	4	39	6
metaworld/handle-pull-side-v2	A task requiring the robot to pull a handle from the side.	150	4	39	6
metaworld/handle-pull-v2	A task where the robot must pull a handle.	150	4	39	6
metaworld/lever-pull-v2	A task involving the robot pulling a lever.	150	4	39	6
metaworld/peg-insert-side-v2	A task requiring the robot to insert a peg from the side.	150	4	39	6
metaworld/pick-place-wall-v2	A task involving the robot picking and placing an object with a wall.	150	4	39	6
metaworld/pick-out-of-hole-v2	A task where the robot must pick an object out of a hole.	150	4	39	6
metaworld/reach-v2	A task where the robot must reach an object.	150	4	39	6
metaworld/push-back-v2	A task involving the robot pushing an object backward.	150	4	39	6
metaworld/push-v2	A task where the robot must push an object.	150	4	39	6
metaworld/pick-place-v2	A task involving the robot picking up and placing an object.	150	4	39	6
metaworld/plate-slide-v2	A task requiring the robot to slide a plate.	150	4	39	6
metaworld/plate-slide-side-v2	A task involving the robot sliding a plate from the side.	150	4	39	6
metaworld/plate-slide-back-v2	A task where the robot must slide a plate backward.	150	4	39	6
metaworld/plate-slide-back-side-v2	A task involving the robot sliding a plate backward from the side.	150	4	39	6
metaworld/peg-unplug-side-v2	A task where the robot must unplug a peg from the side.	150	4	39	6
metaworld/soccer-v2	A task where the robot must play soccer.	150	4	39	6
metaworld/stick-push-v2	A task involving the robot pushing a stick.	150	4	39	6
metaworld/stick-pull-v2	A task where the robot must pull a stick.	150	4	39	6
metaworld/push-wall-v2	A task involving the robot pushing against a wall.	150	4	39	6
metaworld/reach-wall-v2	A task where the robot must reach an object with a wall.	150	4	39	6
metaworld/shelf-place-v2	A task involving the robot placing an object on a shelf.	150	4	39	6
metaworld/sweep-into-v2	A task where the robot must sweep objects into a container.	150	4	39	6
metaworld/sweep-v2	A task requiring the robot to sweep.	150	4	39	6
metaworld/window-open-v2	A task where the robot must open a window.	150	4	39	6
metaworld/window-close-v2	A task involving the robot closing a window.	150	4	39	6

MP Environments

All envs also exist in MP-variants. Refer to them using metaworld_ProMP/<name-v2> or metaworld_ProDMP/<name-v2> (DMP is currently not supported as of now).