The pendulum starts with random initial rotation, the goal is to swing it up so it stays upright.
Continuous Box(3) :
| Idx | Observation | Min | Max |
|---|---|---|---|
| 0 | Cos Theta | -1 | 1 |
| 1 | Sin Theta | -1 | 1 |
| 2 | Angle Velocity (theta_dt) |
-2 | 2 |
Theta is the angle of the pendulum with respect to the vertical, in [-pi, pi].
Box(1) :
| Idx | Action | Min | Max |
|---|---|---|---|
| 0 | Torque Force (torque) |
-2 | 2 |
Reward is -cost where cost = theta^2 + 0.1*theta_dt^2 + 0.001*torque^2.
No termination event (is_done() always returns False).
learn.py (to be launched from within the script's own folder), uses Stable-Baseline.