BipedalWalker v2

Overview

Details

• Name: BipedalWalker-v3
• Category: Box2D
• Leaderboard Page

Description

Get a 2D biped walker to walk through rough terrain.

Environment

Observation

Type: Box(24)

Num	Observation	Min	Max	Mean
0	hull_angle	0	2*pi	0.5
1	hull_angularVelocity	-inf	+inf	-
2	vel_x	-1	+1	-
3	vel_y	-1	+1	-
4	hip_joint_1_angle	-inf	+inf	-
5	hip_joint_1_speed	-inf	+inf	-
6	knee_joint_1_angle	-inf	+inf	-
7	knee_joint_1_speed	-inf	+inf	-
8	leg_1_ground_contact_flag	0	1	-
9	hip_joint_2_angle	-inf	+inf	-
10	hip_joint_2_speed	-inf	+inf	-
11	knee_joint_2_angle	-inf	+inf	-
12	knee_joint_2_speed	-inf	+inf	-
13	leg_2_ground_contact_flag	0	1	-
14-23	10 lidar readings	-inf	+inf	-

Actions

Type: Box(4) - Torque control(default) / Velocity control - Change inside /envs/box2d/bipedal_walker.py line 363

Num	Name	Min	Max
0	Hip_1 (Torque / Velocity)	-1	+1
1	Knee_1 (Torque / Velocity)	-1	+1
2	Hip_2 (Torque / Velocity)	-1	+1
3	Knee_2 (Torque / Velocity)	-1	+1

Reward

Reward is given for moving forward, total 300+ points up to the far end. If the robot falls, it gets -100. Applying motor torque costs a small amount of points, more optimal agent will get better score. State consists of hull angle speed, angular velocity, horizontal speed, vertical speed, position of joints and joints angular speed, legs contact with ground, and 10 lidar rangefinder measurements. There's no coordinates in the state vector.

Starting State

Random position upright and mostly straight legs.

Episode Termination

The episode ends when the robot body touches ground or the robot reaches far right side of the environment.

Solved Requirements

BipedalWalker-v2 defines "solving" as getting average reward of 300 over 100 consecutive trials