[asset-badge]: https://img.shields.io/badge/download%20asset-yes-blue.svg
[dense-reward-badge]: https://img.shields.io/badge/dense%20reward-yes-green.svg
[sparse-reward-badge]: https://img.shields.io/badge/sparse%20reward-yes-green.svg
[no-dense-reward-badge]: https://img.shields.io/badge/dense%20reward-no-red.svg
[no-sparse-reward-badge]: https://img.shields.io/badge/sparse%20reward-no-red.svg
[demos-badge]: https://img.shields.io/badge/demos-yes-green.svg
# Control Tasks
These are classic control tasks where the objective is to control a robot to reach a particular state, similar to the [DM Control suite](https://github.com/deepmind/dm_control) but with GPU parallelized simulation and rendering.
The document here has both a high-level overview/list of all tasks in a table as well as detailed task cards with video demonstrations after.
## Task Table
Table of all tasks/environments in this category. Task column is the environment ID, Preview is a thumbnail pair of the first and last frames of an example success demonstration. Max steps is the task's default max episode steps, generally tuned for RL workflows.
## MS-AntRun-v1
![dense-reward][dense-reward-badge]
![no-sparse-reward][no-sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Ant moves in x direction at 4 m/s
**Randomizations:**
- Ant qpos and qvel have added noise from uniform distribution [-1e-2, 1e-2]
**Success Conditions:**
- No specific success conditions.
:::
## MS-AntWalk-v1
![dense-reward][dense-reward-badge]
![no-sparse-reward][no-sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Ant moves in x direction at 0.5 m/s
**Randomizations:**
- Ant qpos and qvel have added noise from uniform distribution [-1e-2, 1e-2]
**Success Conditions:**
- No specific success conditions.
:::
## MS-CartpoleBalance-v1
![dense-reward][dense-reward-badge]
![sparse-reward][sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Use the Cartpole robot to balance a pole on a cart.
**Randomizations:**
- Pole direction is randomized around the vertical axis. the range is [-0.05, 0.05] radians.
**Fail Conditions:**
- Pole is lower than the horizontal plane
:::
## MS-CartpoleSwingUp-v1
![dense-reward][dense-reward-badge]
![no-sparse-reward][no-sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Use the Cartpole robot to swing up a pole on a cart.
**Randomizations:**
- Pole direction is randomized around the whole circle. the range is [-pi, pi] radians.
**Success Conditions:**
- No specific success conditions. The task is considered successful if the pole is upright for the whole episode.
:::
## MS-HopperHop-v1
![dense-reward][dense-reward-badge]
![sparse-reward][sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Hopper robot stays upright and moves in positive x direction with hopping motion
**Randomizations:**
- Hopper robot is randomly rotated [-pi, pi] radians about y axis.
- Hopper qpos are uniformly sampled within their allowed ranges
**Success Conditions:**
- No specific success conditions. The task is considered successful if the pole is upright for the whole episode.
:::
## MS-HopperStand-v1
![dense-reward][dense-reward-badge]
![sparse-reward][sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Hopper robot stands upright
**Randomizations:**
- Hopper robot is randomly rotated [-pi, pi] radians about y axis.
- Hopper qpos are uniformly sampled within their allowed ranges
**Success Conditions:**
- No specific success conditions.
:::
## MS-HumanoidRun-v1
![dense-reward][dense-reward-badge]
![no-sparse-reward][no-sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Humanoid moves in x direction at running pace
**Randomizations:**
- Humanoid qpos and qvel have added noise from uniform distribution [-1e-2, 1e-2]
**Fail Conditions:**
- Humanoid robot torso link leaves z range [0.7, 1.0]
:::
## MS-HumanoidStand-v1
![dense-reward][dense-reward-badge]
![no-sparse-reward][no-sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Humanoid robot stands upright
**Randomizations:**
- Humanoid robot is randomly rotated [-pi, pi] radians about z axis.
- Humanoid qpos and qvel have added noise from uniform distribution [-1e-2, 1e-2]
**Fail Conditions:**
- Humanoid robot torso link leaves z range [0.7, 1.0]
:::
## MS-HumanoidWalk-v1
![dense-reward][dense-reward-badge]
![no-sparse-reward][no-sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Humanoid moves in x direction at walking pace
**Randomizations:**
- Humanoid qpos and qvel have added noise from uniform distribution [-1e-2, 1e-2]
**Fail Conditions:**
- Humanoid robot torso link leaves z range [0.7, 1.0]
:::
