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DeepMind Control Suite: dm_control 1.0.13

发布时间 2023-06-26 17:58:36作者: 穷酸秀才大草包

dm_control: DeepMind Infrastructure for Physics-Based Simulation

DeepMind的软件堆栈，用于基于物理的模拟和强化学习环境，使用MuJoCo物理。

1、基准任务

for domain_name, task_name in suite.BENCHMARKING:
　　print(domain_name, task_name)
　　env = suite.load(domain_name, task_name)

　　action_spec = env.action_spec()
　　time_step = env.reset()

　　action = np.random.uniform(action_spec.minimum,
　　action_spec.maximum,
　　size=action_spec.shape)
　　time_step = env.step(action)
　　print(time_step.last(), time_step.reward, time_step.discount, time_step.observation)
  • acrobot swingup
    • orientations: array(4)
    • velocity: array(2)
  • acrobot swingup_sparse
    • orientations: array(4)
    • velocity: array(2)
  • ball_in_cup catch
    • position: array(4)
    • velocity: array(4)
  • cartpole balance
    • position: array(3)
    • velocity: array(2)
  • cartpole balance_sparse
    • position: array(3)
    • velocity: array(2)
  • cartpole swingup
    • position: array(3)
    • velocity: array(2)
  • cartpole swingup_sparse
    • position: array(3)
    • velocity: array(2)
  • cheetah run
    • position: array(8)
    • velocity: array(9)
  • finger spin
    • position: array(4)
    • velocity: array(3)
    • touch: array(2)
  • finger turn_easy
    • position: array(4)
    • velocity: array(3)
    • touch: array(2)
    • target_position: array(2)
    • dist_to_target: float
  • finger turn_hard
    • position: array(4)
    • velocity: array(3)
    • touch: array(2)
    • target_position: array(2)
    • dist_to_target: float
  • fish upright
    • joint_angles: array(7)
    • upright: float
    • velocity: array(13)
  • fish swim
    • joint_angles: array(7)
    • upright: float
    • target: array(3)
    • velocity: array(13)
  • hopper stand
    • position: array(6)
    • velocity: array(7)
    • touch: array(2)
  • hopper hop
    • position: array(6)
    • velocity: array(7)
    • touch: array(2)
  • humanoid stand
  • humanoid walk
  • humanoid run
  • manipulator bring_ball
  • pendulum swingup
  • point_mass easy
  • reacher easy
  • reacher hard
  • swimmer swimmer6
  • swimmer swimmer15
  • walker stand
  • walker walk
  • walker run