sunblaze_envs

Overview

There are six environments, built on top of the corresponding OpenAI Gym and Roboschool implementations:

• CartPole
• MountainCar
• Acrobot
• Pendulum
• HalfCheetah
• Hopper

Each has three versions:

• D: Environment parameters are set to the default values in Gym and Roboschool. Access by SunblazeEnvironment-v0, e.g. SunblazeCartPole-v0.
• R: Environment parameters are randomly sampled from intervals containing their default values. Access by SunblazeEnvironmentRandomNormal-v0.
• E: Environment parameters are randomly sampled from intervals outside those in R, containing more extreme values. Access by SunblazeEnvironmentRandomExtreme-v0.

Environment details

Ranges of parameters for each version of each environment, using set notation.

Environment	Parameter	D	R	E
CartPole	Force	10	[5,15]	[1,5] U [15,20]
	Length	0.5	[0.25,0.75]	[0.05,0.25] U [0.75,1.0]
	Mass	0.1	[0.05,0.5]	[0.01,0.05] U [0.5,1.0]
MountainCar	Force	0.001	[0.0005,0.005]	[0.0001,0.0005] U [0.005,0.01]
	Mass	0.0025	[0.001,0.005]	[0.0005,0.001] U [0.005,0.01]
Acrobot	Length	1	[0.75,1.25]	[0.5,0.75] U [1.25,1.5]
	Mass	1	[0.75,1.25]	[0.5,0.75] U [1.25,1.5]
	MOI	1	[0.75,1.25]	[0.5,0.75] U [1.25,1.5]
Pendulum	Length	1	[0.75,1.25]	[0.5,0.75] U [1.25,1.5]
	Mass	1	[0.75,1.25]	[0.5,0.75] U [1.25,1.5]
HalfCheetah	Power	0.90	[0.70,1.10]	[0.50,0.70] U [1.10,1.30]
	Density	1000	[750,1250]	[500,750] U [1250,1500]
	Friction	0.8	[0.5,1.1]	[0.2,0.5] U [1.1,1.4]
Hopper	Power	0.75	[0.60,0.90]	[0.40,0.60] U [0.90,1.10]
	Density	1000	[750,1250]	[500,750] U [1250,1500]
	Friction	0.8	[0.5,1.1]	[0.2,0.5] U [1.1,1.4]