Returns the sparse reward variant of the Cartpole Swing-Up task.
(time_limit=_DEFAULT_TIME_LIMIT, random=None,
environment_kwargs=None)
| 71 | |
| 72 | @SUITE.add('benchmarking') |
| 73 | def swingup_sparse(time_limit=_DEFAULT_TIME_LIMIT, random=None, |
| 74 | environment_kwargs=None): |
| 75 | """Returns the sparse reward variant of the Cartpole Swing-Up task.""" |
| 76 | physics = Physics.from_xml_string(*get_model_and_assets()) |
| 77 | task = Balance(swing_up=True, sparse=True, random=random) |
| 78 | environment_kwargs = environment_kwargs or {} |
| 79 | return control.Environment( |
| 80 | physics, task, time_limit=time_limit, **environment_kwargs) |
| 81 | |
| 82 | |
| 83 | @SUITE.add() |
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