PreReqs

Pre Reqs

• MDP formulations - Gym , dm-control
• Physics simulation -- MuJoCo

MDP formulations - Gym docs

• env = gym.make('hopper-v3')
• obs = env.get_obs()
• obs_next, rewards, done, env_info = env.step(actions)
• obs = env.reset()

Physics sim: MuJoCo

• sim.model - non temporal data
• sim.data[t] - temporal data
• sim.forward() # forward kinematic
• sim.step() # time integration