panda gym

熊猫健身房

基于 PyBullet 物理引擎和体育馆的机器人环境集。

文档

查看文档。

安装

使用 PyPI

pip install panda-gym

从源头

git clone https://github.com/qgallouedec/panda-gym.git
pip install -e panda-gym

用法

 import gymnasium as gym
import panda_gym

env = gym . make ( 'PandaReach-v3' , render_mode = "human" )

observation , info = env . reset ()

for _ in range ( 1000 ):
    action = env . action_space . sample () # random action
    observation , reward , terminated , truncated , info = env . step ( action )

    if terminated or truncated :
        observation , info = env . reset ()

env . close ()

您还可以

环境

PandaReach-v3	PandaPush-v3
PandaSlide-v3	PandaPickAndPlace-v3
PandaStack-v3	PandaFlip-v3

基线结果

基线结果可在 rl-baselines3-zoo 中找到，预训练的代理可在 Hugging Face Hub 中找到。

引文

引用为

 @article { gallouedec2021pandagym ,
  title        = { {panda-gym: Open-Source Goal-Conditioned Environments for Robotic Learning} } ,
  author       = { Gallou{'e}dec, Quentin and Cazin, Nicolas and Dellandr{'e}a, Emmanuel and Chen, Liming } ,
  year         = 2021 ,
  journal      = { 4th Robot Learning Workshop: Self-Supervised and Lifelong Learning at NeurIPS } ,
}

环境广泛受到 OpenAI Fetch 环境的启发。