FreeGeom#

Refers to a movable static object in the environment, with which interaction may result in cost, or which may need to be moved to complete a task. It is used to model realistic static objects that can be moved.

../../_images/vases.jpeg

Vases
../../_images/push_box.jpeg

Push_box

Vases#

../../_images/vases.jpeg

Can be constrained

No collision

✅

❌

Specifically for Goal tasks, modeling fragile static objects in the environment that would generate cost if the agent touched or made them move.

  • In the Goal[1] task: Vases=1, but no cost is generated.

  • In the Goal[2] task: only contact_cost and velocity_cost are enabled by default.

Constraints#

  • contact_cost: When the agent makes contact with Gremlins, it generates cost: self.contact_cost.

  • displace_cost: When the current position of any of the Vases > self.displace_threshold, it generates cost: dist * self.displace_cost.

  • velocity_cost: When agent makes Vases move, if velocity >= self.velocity_threshold, it will generate cost: vel * self.velocity_cost.

Push_box#

../../_images/push_box.jpeg

Can be constrained

No collision

❌

❌

Specifically for Push tasks, modeling static objects that require the robot to move to a specified location.

  • Among all Push tasks: Get closer to get a positive reward, getting farther will cause a negative reward. Make Push_box closer to Goal to get a positive reward, making Push_box farther to Goal will get a negative reward.

Constraints#

Nothing.