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Pendulum v0

Chao Wen edited this page Apr 14, 2018 · 6 revisions

Overview

Details

Description

Try to keep a frictionless pendulum standing up.

Source

Unknown

Environment

Observation

Type: Box(3)

Num Observation Min Max
0 cos(theta) -1.0 1.0
1 sin(theta) -1.0 1.0
2 theta dot -8.0 8.0

Actions

Type: Box(1)

Num Action Min Max
0 Joint effort -2.0 2.0

Reward

The precise equation for reward:

-(theta^2 + 0.1*theta_dt^2 + 0.001*action^2)

Theta is normalized between -pi and pi. Therefore, the lowest cost is -(pi^2 + 0.1*8^2 + 0.001*2^2) = -16.2736044, and the highest cost is 0. In essence, the goal is to remain at zero angle (vertical), with the least rotational velocity, and the least effort.

Starting State

Random angle from -pi to pi, and random velocity between -1 and 1

Episode Termination

There is no specified termination. Adding a maximum number of steps might be a good idea.

Solved Requirements

None yet specified

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