Research Area:  Machine Learning
This technical report presentspanda-gym, a set Reinforcement Learning (RL) environments for theFranka Emika Panda robot integrated with OpenAI Gym. Five tasks are included: reach, push, slide,pick & place and stack. They all follow a Multi-Goal RL framework, allowing to use goal-orientedRL algorithms. To foster open-research, we chose to use the open-source physics engine PyBullet.The implementation chosen for this package allows to deﬁne very easily new tasks or new robots.This report also presents a baseline of results obtained with state-of-the-art model-free off-policyalgorithms.
Author(s) Name:  Quentin Gallouédec, Nicolas Cazin, Emmanuel Dellandréa, Liming Chen
Journal name:  A Preprint
Publisher name:  arXiv:2106.13687v1
Volume Information:  25 Jun 2021
Paper Link:   arXiv:2106.13687v1