MO-MultiwalkerStability#
+
+| + | + |
|---|---|
Agents names |
+
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+
Action Space |
+Box(-1.0, 1.0, (4,), float32) |
+
Observation Space |
+Box(-inf, inf, (31,), float32) |
+
Reward Space |
+Box([-2.100e+02 -1.567e-02], [0.46 0. ], (2,), float32) |
+
Import |
+
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+
A sister environment to MO-Multiwalker, which is the MO adaptation of the Multiwalker environment from PettingZoo.
+Observation Space#
+ +Action Space#
+The action space is a vector representing the force exerted at the 4 available joints (hips and knees), giving a continuous action space with a 4 element vector.
+The higher bound is 1, the lower bound is -1.
Reward Space#
+The reward space is a 2D vector where; the first value contains the sum of following rewards:
+-
+
Maximizing distance traveled towards the end of the level during one step.
[-0.46, 0.46]
+Penalty for agent falling.
[-110, 0]
+Penalty for the package falling.
[-100, 0]+and the second value contains:
+A penalty based on the change of angle of the package, to avoid shaking the package.
[-0.01567, 0]
+
Episode Termination#
+The episode is terminated if the package is dropped. If terminate_on_fall is True (default), then environment is terminated if a single agent falls even if the package is still alive.