Reacher v2

Overview

Details

• Name: Reacher-v2
• Category: Mujoco
• Leaderboard Page
• Old links:
  • Environment Page

Description

A 2 DOF robotic arm whose task is to reacher a particular target in the field.

Source

To be completed

Environment

Observation

Type: Box(4)

Num	Observation	Min	Max
0	Cart Position	-2.4	2.4
1	Cart Velocity	-Inf	Inf
2	Pole Angle	~ -41.8°	~ 41.8°
3	Pole Velocity At Tip	-Inf	Inf

Actions

Type: Discrete(2)

Num	Action
0	Push cart to the left
1	Push cart to the right

Note: The amount the velocity is reduced or increased is not fixed as it depends on the angle the pole is pointing. This is because the center of gravity of the pole increases the amount of energy needed to move the cart underneath it

Reward

Reward is 1 for every step taken, including the termination step

Starting State

All observations are assigned a uniform random value between ±0.05

Episode Termination

1. Pole Angle is more than ±12°
2. Cart Position is more than ±2.4 (center of the cart reaches the edge of the display)
3. Episode length is greater than 200

Solved Requirements

Considered solved when the average reward is greater than or equal to 195.0 over 100 consecutive trials.