There are dynamic goal environments. We modify the robotic manipulation environments created by OpenAI (Brockman et al., 2016) for our experiments.
As shown in above figure, we assign certain rules to the goals so that they accordingly move in the environments while an agent is required to control the robotic arm's grippers to reach the goal that moves along a straight line (Dy-Reaching), to reach the goal that moves in a circle (Dy-Circling), or to push a block to the goal that moves along a straight line (Dy-Pushing).
Our environments depend on openai gym. Please install gym at first.
cd dygym
python install -e .cd dygym/test
python test_dyreach.pyUpdate soon ~