Software & Data Downloads — CME

In this package, we provide python code for a circular maze environment (CME) which Is a challenging environment for learning manipulation and control. The goal in this system is to tip and tilt the CME so as to drive one (or more) marble(s) from the outermost to the innermost ring. While this system is very intuitive and easy for humans to solve, it can be very difficult and inefficient for standard reinforcement learning algorithms to learn meaningful policies. Consequently, we provide codes to this environment so that it can be used as a benchmark for different algorithms that can learn meaningful policies in this environment. We also provide codes for iLQR which can be used to control the motion of marbles in the proposed environment.

Access software at https://github.com/merlresearch/CME.