(random_state=None)
return composer.Environment(time_limit=30,
                              task=task,
                              random_state=random_state,
                              strip_singleton_obs_buffer_dim=True)
Requires a CMU humanoid to run down a corridor obstructed by walls.
Requires a CMU humanoid to run down a corridor obstructed by walls.
Requires a CMU humanoid to run down a corridor obstructed by walls .
def cmu_humanoid_tracking(random_state=None):
  """Requires a CMU humanoid to run down a corridor obstructed by walls."""

  # Use a position-controlled CMU humanoid walker.
  walker_type = cmu_humanoid.CMUHumanoidPositionControlledV2020

  # Build an empty arena.
  arena = arenas.Floor()

  # Build a task that rewards the agent for tracking motion capture reference
  # data.
  task = tracking.MultiClipMocapTracking(
      walker=walker_type,
      arena=arena,
      ref_path=cmu_mocap_data.get_path_for_cmu(version='2020'),
      dataset='walk_tiny',
      ref_steps=(1, 2, 3, 4, 5),
      min_steps=10,
      reward_type='comic',
  )

  return composer.Environment(time_limit=30,
                              task=task,
                              random_state=random_state,
                              strip_singleton_obs_buffer_dim=True)
def cmu_humanoid_tracking ( random_state = None ) : # Use a position-controlled CMU humanoid walker. walker_type = cmu_humanoid . CMUHumanoidPositionControlledV2020 # Build an empty arena. arena = arenas . Floor ( ) # Build a task that rewards the agent for tracking motion capture reference # data. task = tracking . MultiClipMocapTracking ( walker = walker_type , arena = arena , ref_path = cmu_mocap_data . get_path_for_cmu ( version = '2020' ) , dataset = 'walk_tiny' , ref_steps = ( 1 , 2 , 3 , 4 , 5 ) , min_steps = 10 , reward_type = 'comic' , ) return composer . Environment ( time_limit = 30 , task = task , random_state = random_state , strip_singleton_obs_buffer_dim = True )