Environments

MuJoCo ( Multi Joints with Contacts ) is a free, open-source physics engine tailored for research in robotics, biomechanics, graphics, and more, offering exceptional speed, accuracy, and modeling capabilities. 

Within this engine, we consider two sets of maze environments from the Gymnasium framework : PointMaze and AntMaze. The Point agent is a point mass controlled by applying forces along X and Y axis allowing it to move freely across the plane. In contrast the Ant agent is a more complex articulated quadruped robot, controlled through torques actuation.

The datasets are obtained through the Minari API.