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<article role="main">
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<section class="tex2jax_ignore mathjax_ignore" id="hopper">
|
||
<h1>Hopper<a class="headerlink" href="#hopper" title="Link to this heading">¶</a></h1>
|
||
<figure class="align-default" id="id1">
|
||
<a class="reference internal image-reference" href="../../../_images/hopper.gif"><img alt="../../../_images/hopper.gif" src="../../../_images/hopper.gif" style="width: 200px;" />
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</a>
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</figure>
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<p>This environment is part of the Mujoco environments which contains general information about the environment.</p>
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<div class="table-wrapper colwidths-auto docutils container">
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<table class="docutils align-default">
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<thead>
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<tr class="row-odd"><th class="head"><p></p></th>
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<th class="head"><p></p></th>
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</tr>
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</thead>
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<tbody>
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||
<tr class="row-even"><td><p>Action Space</p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">Box(-1.0,</span> <span class="pre">1.0,</span> <span class="pre">(3,),</span> <span class="pre">float32)</span></code></p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>Observation Space</p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">Box(-inf,</span> <span class="pre">inf,</span> <span class="pre">(11,),</span> <span class="pre">float64)</span></code></p></td>
|
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</tr>
|
||
<tr class="row-even"><td><p>import</p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">gymnasium.make("Hopper-v5")</span></code></p></td>
|
||
</tr>
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</tbody>
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</table>
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</div>
|
||
<section id="description">
|
||
<h2>Description<a class="headerlink" href="#description" title="Link to this heading">¶</a></h2>
|
||
<p>This environment is based on the work of Erez, Tassa, and Todorov in <a class="reference external" href="http://www.roboticsproceedings.org/rss07/p10.pdf">“Infinite Horizon Model Predictive Control for Nonlinear Periodic Tasks”</a>.
|
||
The environment aims to increase the number of independent state and control variables compared to classical control environments.
|
||
The hopper is a two-dimensional one-legged figure consisting of four main body parts - the torso at the top, the thigh in the middle, the leg at the bottom, and a single foot on which the entire body rests.
|
||
The goal is to make hops that move in the forward (right) direction by applying torque to the three hinges that connect the four body parts.</p>
|
||
</section>
|
||
<section id="action-space">
|
||
<h2>Action Space<a class="headerlink" href="#action-space" title="Link to this heading">¶</a></h2>
|
||
<figure class="align-default" id="id2">
|
||
<img alt="../../../_images/hopper.png" src="../../../_images/hopper.png" />
|
||
</figure>
|
||
<p>The action space is a <code class="docutils literal notranslate"><span class="pre">Box(-1,</span> <span class="pre">1,</span> <span class="pre">(3,),</span> <span class="pre">float32)</span></code>. An action represents the torques applied at the hinge joints.</p>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p>Num</p></th>
|
||
<th class="head"><p>Action</p></th>
|
||
<th class="head"><p>Control Min</p></th>
|
||
<th class="head"><p>Control Max</p></th>
|
||
<th class="head"><p>Name (in corresponding XML file)</p></th>
|
||
<th class="head"><p>Joint</p></th>
|
||
<th class="head"><p>Type (Unit)</p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p>0</p></td>
|
||
<td><p>Torque applied on the thigh rotor</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>thigh_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>1</p></td>
|
||
<td><p>Torque applied on the leg rotor</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>leg_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>2</p></td>
|
||
<td><p>Torque applied on the foot rotor</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>foot_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
</section>
|
||
<section id="observation-space">
|
||
<h2>Observation Space<a class="headerlink" href="#observation-space" title="Link to this heading">¶</a></h2>
|
||
<p>The observation space consists of the following parts (in order):</p>
|
||
<ul class="simple">
|
||
<li><p><em>qpos (5 elements by default):</em> Position values of the robot’s body parts.</p></li>
|
||
<li><p><em>qvel (6 elements):</em> The velocities of these individual body parts (their derivatives).</p></li>
|
||
</ul>
|
||
<p>By default, the observation does not include the robot’s x-coordinate (<code class="docutils literal notranslate"><span class="pre">rootx</span></code>).
|
||
This can be included by passing <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation=False</span></code> during construction.
|
||
In this case, the observation space will be a <code class="docutils literal notranslate"><span class="pre">Box(-Inf,</span> <span class="pre">Inf,</span> <span class="pre">(12,),</span> <span class="pre">float64)</span></code>, where the first observation element is the x-coordinate of the robot.
|
||
Regardless of whether <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation</span></code> is set to <code class="docutils literal notranslate"><span class="pre">True</span></code> or <code class="docutils literal notranslate"><span class="pre">False</span></code>, the x- and y-coordinates are returned in <code class="docutils literal notranslate"><span class="pre">info</span></code> with the keys <code class="docutils literal notranslate"><span class="pre">"x_position"</span></code> and <code class="docutils literal notranslate"><span class="pre">"y_position"</span></code>, respectively.</p>
|
||
<p>By default, however, the observation space is a <code class="docutils literal notranslate"><span class="pre">Box(-Inf,</span> <span class="pre">Inf,</span> <span class="pre">(11,),</span> <span class="pre">float64)</span></code> where the elements are as follows:</p>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p>Num</p></th>
|
||
<th class="head"><p>Observation</p></th>
|
||
<th class="head"><p>Min</p></th>
|
||
<th class="head"><p>Max</p></th>
|
||
<th class="head"><p>Name (in corresponding XML file)</p></th>
|
||
<th class="head"><p>Joint</p></th>
|
||
<th class="head"><p>Type (Unit)</p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p>0</p></td>
|
||
<td><p>z-coordinate of the torso (height of hopper)</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rootz</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>1</p></td>
|
||
<td><p>angle of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rooty</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>2</p></td>
|
||
<td><p>angle of the thigh joint</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>thigh_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>3</p></td>
|
||
<td><p>angle of the leg joint</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>leg_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>4</p></td>
|
||
<td><p>angle of the foot joint</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>foot_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>5</p></td>
|
||
<td><p>velocity of the x-coordinate of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rootx</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>velocity (m/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>6</p></td>
|
||
<td><p>velocity of the z-coordinate (height) of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rootz</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>velocity (m/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>7</p></td>
|
||
<td><p>angular velocity of the angle of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rooty</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>8</p></td>
|
||
<td><p>angular velocity of the thigh hinge</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>thigh_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>9</p></td>
|
||
<td><p>angular velocity of the leg hinge</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>leg_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>10</p></td>
|
||
<td><p>angular velocity of the foot hinge</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>foot_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>excluded</p></td>
|
||
<td><p>x-coordinate of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rootx</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
</section>
|
||
<section id="rewards">
|
||
<h2>Rewards<a class="headerlink" href="#rewards" title="Link to this heading">¶</a></h2>
|
||
<p>The total reward is: <em><strong>reward</strong></em> <em>=</em> <em>healthy_reward + forward_reward - ctrl_cost</em>.</p>
|
||
<ul class="simple">
|
||
<li><p><em>healthy_reward</em>:
|
||
Every timestep that the Hopper is healthy (see definition in section “Episode End”),
|
||
it gets a reward of fixed value <code class="docutils literal notranslate"><span class="pre">healthy_reward</span></code> (default is <span class="math notranslate nohighlight">\(1\)</span>).</p></li>
|
||
<li><p><em>forward_reward</em>:
|
||
A reward for moving forward,
|
||
this reward would be positive if the Hopper moves forward (in the positive <span class="math notranslate nohighlight">\(x\)</span> direction / in the right direction).
|
||
<span class="math notranslate nohighlight">\(w_{forward} \times \frac{dx}{dt}\)</span>, where
|
||
<span class="math notranslate nohighlight">\(dx\)</span> is the displacement of the “torso” (<span class="math notranslate nohighlight">\(x_{after-action} - x_{before-action}\)</span>),
|
||
<span class="math notranslate nohighlight">\(dt\)</span> is the time between actions, which depends on the <code class="docutils literal notranslate"><span class="pre">frame_skip</span></code> parameter (default is <span class="math notranslate nohighlight">\(4\)</span>),
|
||
and <code class="docutils literal notranslate"><span class="pre">frametime</span></code> which is <span class="math notranslate nohighlight">\(0.002\)</span> - so the default is <span class="math notranslate nohighlight">\(dt = 4 \times 0.002 = 0.008\)</span>,
|
||
<span class="math notranslate nohighlight">\(w_{forward}\)</span> is the <code class="docutils literal notranslate"><span class="pre">forward_reward_weight</span></code> (default is <span class="math notranslate nohighlight">\(1\)</span>).</p></li>
|
||
<li><p><em>ctrl_cost</em>:
|
||
A negative reward to penalize the Hopper for taking actions that are too large.
|
||
<span class="math notranslate nohighlight">\(w_{control} \times \|action\|_2^2\)</span>,
|
||
where <span class="math notranslate nohighlight">\(w_{control}\)</span> is <code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code> (default is <span class="math notranslate nohighlight">\(10^{-3}\)</span>).</p></li>
|
||
</ul>
|
||
<p><code class="docutils literal notranslate"><span class="pre">info</span></code> contains the individual reward terms.</p>
|
||
</section>
|
||
<section id="starting-state">
|
||
<h2>Starting State<a class="headerlink" href="#starting-state" title="Link to this heading">¶</a></h2>
|
||
<p>The initial position state is <span class="math notranslate nohighlight">\([0, 1.25, 0, 0, 0, 0] + \mathcal{U}_{[-reset\_noise\_scale \times I_{6}, reset\_noise\_scale \times I_{6}]}\)</span>.
|
||
The initial velocity state is <span class="math notranslate nohighlight">\(\mathcal{U}_{[-reset\_noise\_scale \times I_{6}, reset\_noise\_scale \times I_{6}]}\)</span>.</p>
|
||
<p>where <span class="math notranslate nohighlight">\(\mathcal{U}\)</span> is the multivariate uniform continuous distribution.</p>
|
||
<p>Note that the z-coordinate is non-zero so that the hopper can stand up immediately.</p>
|
||
</section>
|
||
<section id="episode-end">
|
||
<h2>Episode End<a class="headerlink" href="#episode-end" title="Link to this heading">¶</a></h2>
|
||
<section id="termination">
|
||
<h3>Termination<a class="headerlink" href="#termination" title="Link to this heading">¶</a></h3>
|
||
<p>If <code class="docutils literal notranslate"><span class="pre">terminate_when_unhealthy</span> <span class="pre">is</span> <span class="pre">True</span></code> (the default), the environment terminates when the Hopper is unhealthy.
|
||
The Hopper is unhealthy if any of the following happens:</p>
|
||
<ol class="arabic simple">
|
||
<li><p>An element of <code class="docutils literal notranslate"><span class="pre">observation[1:]</span></code> (if <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation=True</span></code>, otherwise <code class="docutils literal notranslate"><span class="pre">observation[2:]</span></code>) is no longer contained in the closed interval specified by the <code class="docutils literal notranslate"><span class="pre">healthy_state_range</span></code> argument (default is <span class="math notranslate nohighlight">\([-100, 100]\)</span>).</p></li>
|
||
<li><p>The height of the hopper (<code class="docutils literal notranslate"><span class="pre">observation[0]</span></code> if <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation=True</span></code>, otherwise <code class="docutils literal notranslate"><span class="pre">observation[1]</span></code>) is no longer contained in the closed interval specified by the <code class="docutils literal notranslate"><span class="pre">healthy_z_range</span></code> argument (default is <span class="math notranslate nohighlight">\([0.7, +\infty]\)</span>) (usually meaning that it has fallen).</p></li>
|
||
<li><p>The angle of the torso (<code class="docutils literal notranslate"><span class="pre">observation[1]</span></code> if <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation=True</span></code>, otherwise <code class="docutils literal notranslate"><span class="pre">observation[2]</span></code>) is no longer contained in the closed interval specified by the <code class="docutils literal notranslate"><span class="pre">healthy_angle_range</span></code> argument (default is <span class="math notranslate nohighlight">\([-0.2, 0.2]\)</span>).</p></li>
|
||
</ol>
|
||
</section>
|
||
<section id="truncation">
|
||
<h3>Truncation<a class="headerlink" href="#truncation" title="Link to this heading">¶</a></h3>
|
||
<p>The default duration of an episode is 1000 timesteps.</p>
|
||
</section>
|
||
</section>
|
||
<section id="arguments">
|
||
<h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading">¶</a></h2>
|
||
<p>Hopper provides a range of parameters to modify the observation space, reward function, initial state, and termination condition.
|
||
These parameters can be applied during <code class="docutils literal notranslate"><span class="pre">gymnasium.make</span></code> in the following way:</p>
|
||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
|
||
<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s1">'Hopper-v5'</span><span class="p">,</span> <span class="n">ctrl_cost_weight</span><span class="o">=</span><span class="mf">1e-3</span><span class="p">,</span> <span class="o">....</span><span class="p">)</span>
|
||
</pre></div>
|
||
</div>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p>Parameter</p></th>
|
||
<th class="head"><p>Type</p></th>
|
||
<th class="head"><p>Default</p></th>
|
||
<th class="head"><p>Description</p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">xml_file</span></code></p></td>
|
||
<td><p><strong>str</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">"hopper.xml"</span></code></p></td>
|
||
<td><p>Path to a MuJoCo model</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">forward_reward_weight</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">1</span></code></p></td>
|
||
<td><p>Weight for <em>forward_reward</em> term (see <code class="docutils literal notranslate"><span class="pre">Rewards</span></code> section)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">1e-3</span></code></p></td>
|
||
<td><p>Weight for <em>ctrl_cost</em> reward (see <code class="docutils literal notranslate"><span class="pre">Rewards</span></code> section)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">healthy_reward</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">1</span></code></p></td>
|
||
<td><p>Weight for <em>healthy_reward</em> reward (see <code class="docutils literal notranslate"><span class="pre">Rewards</span></code> section)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">terminate_when_unhealthy</span></code></p></td>
|
||
<td><p><strong>bool</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">True</span></code></p></td>
|
||
<td><p>If <code class="docutils literal notranslate"><span class="pre">True</span></code>, issue a <code class="docutils literal notranslate"><span class="pre">terminated</span></code> signal is unhealthy (see <code class="docutils literal notranslate"><span class="pre">Episode</span> <span class="pre">End</span></code> section)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">healthy_state_range</span></code></p></td>
|
||
<td><p><strong>tuple</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">(-100,</span> <span class="pre">100)</span></code></p></td>
|
||
<td><p>The elements of <code class="docutils literal notranslate"><span class="pre">observation[1:]</span></code> (if <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation=True</span></code>, else <code class="docutils literal notranslate"><span class="pre">observation[2:]</span></code>) must be in this range for the hopper to be considered healthy (see <code class="docutils literal notranslate"><span class="pre">Episode</span> <span class="pre">End</span></code> section)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">healthy_z_range</span></code></p></td>
|
||
<td><p><strong>tuple</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">(0.7,</span> <span class="pre">float("inf"))</span></code></p></td>
|
||
<td><p>The z-coordinate must be in this range for the hopper to be considered healthy (see <code class="docutils literal notranslate"><span class="pre">Episode</span> <span class="pre">End</span></code> section)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">healthy_angle_range</span></code></p></td>
|
||
<td><p><strong>tuple</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">(-0.2,</span> <span class="pre">0.2)</span></code></p></td>
|
||
<td><p>The angle given by <code class="docutils literal notranslate"><span class="pre">observation[1]</span></code> (if <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation=True</span></code>, else <code class="docutils literal notranslate"><span class="pre">observation[2]</span></code>) must be in this range for the hopper to be considered healthy (see <code class="docutils literal notranslate"><span class="pre">Episode</span> <span class="pre">End</span></code> section)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">5e-3</span></code></p></td>
|
||
<td><p>Scale of random perturbations of initial position and velocity (see <code class="docutils literal notranslate"><span class="pre">Starting</span> <span class="pre">State</span></code> section)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation</span></code></p></td>
|
||
<td><p><strong>bool</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">True</span></code></p></td>
|
||
<td><p>Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies(see <code class="docutils literal notranslate"><span class="pre">Observation</span> <span class="pre">Space</span></code> section)</p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
</section>
|
||
<section id="version-history">
|
||
<h2>Version History<a class="headerlink" href="#version-history" title="Link to this heading">¶</a></h2>
|
||
<ul class="simple">
|
||
<li><p>v5:</p>
|
||
<ul>
|
||
<li><p>Minimum <code class="docutils literal notranslate"><span class="pre">mujoco</span></code> version is now 2.3.3.</p></li>
|
||
<li><p>Added support for fully custom/third party <code class="docutils literal notranslate"><span class="pre">mujoco</span></code> models using the <code class="docutils literal notranslate"><span class="pre">xml_file</span></code> argument (previously only a few changes could be made to the existing models).</p></li>
|
||
<li><p>Added <code class="docutils literal notranslate"><span class="pre">default_camera_config</span></code> argument, a dictionary for setting the <code class="docutils literal notranslate"><span class="pre">mj_camera</span></code> properties, mainly useful for custom environments.</p></li>
|
||
<li><p>Added <code class="docutils literal notranslate"><span class="pre">env.observation_structure</span></code>, a dictionary for specifying the observation space compose (e.g. <code class="docutils literal notranslate"><span class="pre">qpos</span></code>, <code class="docutils literal notranslate"><span class="pre">qvel</span></code>), useful for building tooling and wrappers for the MuJoCo environments.</p></li>
|
||
<li><p>Return a non-empty <code class="docutils literal notranslate"><span class="pre">info</span></code> with <code class="docutils literal notranslate"><span class="pre">reset()</span></code>, previously an empty dictionary was returned, the new keys are the same state information as <code class="docutils literal notranslate"><span class="pre">step()</span></code>.</p></li>
|
||
<li><p>Added <code class="docutils literal notranslate"><span class="pre">frame_skip</span></code> argument, used to configure the <code class="docutils literal notranslate"><span class="pre">dt</span></code> (duration of <code class="docutils literal notranslate"><span class="pre">step()</span></code>), default varies by environment check environment documentation pages.</p></li>
|
||
<li><p>Fixed bug: <code class="docutils literal notranslate"><span class="pre">healthy_reward</span></code> was given on every step (even if the Hopper was unhealthy), now it is only given when the Hopper is healthy. The <code class="docutils literal notranslate"><span class="pre">info["reward_survive"]</span></code> is updated with this change (related <a class="reference external" href="https://github.com/Farama-Foundation/Gymnasium/issues/526">GitHub issue</a>).</p></li>
|
||
<li><p>Restored the <code class="docutils literal notranslate"><span class="pre">xml_file</span></code> argument (was removed in <code class="docutils literal notranslate"><span class="pre">v4</span></code>).</p></li>
|
||
<li><p>Added individual reward terms in <code class="docutils literal notranslate"><span class="pre">info</span></code> (<code class="docutils literal notranslate"><span class="pre">info["reward_forward"]</span></code>, info<code class="docutils literal notranslate"><span class="pre">["reward_ctrl"]</span></code>, <code class="docutils literal notranslate"><span class="pre">info["reward_survive"]</span></code>).</p></li>
|
||
<li><p>Added <code class="docutils literal notranslate"><span class="pre">info["z_distance_from_origin"]</span></code> which is equal to the vertical distance of the “torso” body from its initial position.</p></li>
|
||
</ul>
|
||
</li>
|
||
<li><p>v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3.</p></li>
|
||
<li><p>v3: Support for <code class="docutils literal notranslate"><span class="pre">gymnasium.make</span></code> kwargs such as <code class="docutils literal notranslate"><span class="pre">xml_file</span></code>, <code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code>, <code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code>, etc. rgb rendering comes from tracking camera (so agent does not run away from screen)</p></li>
|
||
<li><p>v2: All continuous control environments now use mujoco-py >= 1.50.</p></li>
|
||
<li><p>v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments.</p></li>
|
||
<li><p>v0: Initial versions release.</p></li>
|
||
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<li><a class="reference internal" href="#action-space">Action Space</a></li>
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<li><a class="reference internal" href="#version-history">Version History</a></li>
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