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Cartpole

mujorax.CartpoleBalanceEnv

Bases: MjxPlaygroundEnv

DM Control CartpoleBalance.

Cart starts near upright; dense reward for keeping the pole upright and the cart centred.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 required
Source code in mujorax/envs/cartpole.py
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class CartpoleBalanceEnv(MjxPlaygroundEnv):
    """
    DM Control `CartpoleBalance`.

    Cart starts near upright; dense reward for keeping the pole upright
    and the cart centred.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "CartpoleBalance"

mujorax.CartpoleBalanceSparseEnv

Bases: MjxPlaygroundEnv

DM Control CartpoleBalanceSparse.

Cart starts near upright; sparse reward (binary) for keeping the pole upright within tolerance.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 required
Source code in mujorax/envs/cartpole.py
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class CartpoleBalanceSparseEnv(MjxPlaygroundEnv):
    """
    DM Control `CartpoleBalanceSparse`.

    Cart starts near upright; sparse reward (binary) for keeping the
    pole upright within tolerance.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "CartpoleBalanceSparse"

mujorax.CartpoleSwingupEnv

Bases: MjxPlaygroundEnv

DM Control CartpoleSwingup.

Cart starts with the pole hanging down; dense reward for swinging the pole up and balancing it.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 required
Source code in mujorax/envs/cartpole.py
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class CartpoleSwingupEnv(MjxPlaygroundEnv):
    """
    DM Control `CartpoleSwingup`.

    Cart starts with the pole hanging down; dense reward for swinging
    the pole up and balancing it.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "CartpoleSwingup"

mujorax.CartpoleSwingupSparseEnv

Bases: MjxPlaygroundEnv

DM Control CartpoleSwingupSparse.

Cart starts with the pole hanging down; sparse reward for getting the pole into the upright tolerance band.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 required
Source code in mujorax/envs/cartpole.py
Python
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class CartpoleSwingupSparseEnv(MjxPlaygroundEnv):
    """
    DM Control `CartpoleSwingupSparse`.

    Cart starts with the pole hanging down; sparse reward for getting
    the pole into the upright tolerance band.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "CartpoleSwingupSparse"