8.9 KiB
8.9 KiB
Mujoco
Step-based Environments
Environments made by Fancy Gym
Beer Pong
TODO: Change image
| Name | Description | Horizon | Action Dimension | Observation Dimension |
|---|---|---|---|---|
fancy/BeerPong-v0 |
Beer Pong task, based on a custom environment with multiple task variations | 300 | 3 | 29 |
fancy/BeerPongStepBased-v0 |
Step-based rewards for the 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 |
Box Pushing
| Name | Description | Horizon | Action Dimension | Observation Dimension |
|---|---|---|---|---|
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 |
Table Tennis
TODO: Change image
| Name | Description | Horizon | Action Dimension | Observation Dimension |
|---|---|---|---|---|
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 |
Variations of existing environments
| 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* |
*Observation dimensions depend on configuration.
MP Environments
Many of these envs also exist as MP-variants. Refer to them using fancy_DMP/<name> fancy_ProMP/<name> or fancy_ProDMP/<name>.