evomo.problems.neuroevolution.morobtrol.mo_hopper_m3#

Classes#

MoHopper

The multi-objective version of hopper env (3 objectives).

Module Contents#

class evomo.problems.neuroevolution.morobtrol.mo_hopper_m3.MoHopper(**kwargs)#

Bases: brax.envs.hopper.Hopper

The multi-objective version of hopper env (3 objectives).

References:

[1] C. D. Freeman, E. Frey, A. Raichuk, S. Girgin, I. Mordatch, and O. Bachem, “Brax - a differentiable physics engine for large scale rigid body simulation,” 2021. [Online]. Available: http://github.com/google/brax

Initialize the multi-objective hopper env.

Parameters:

num_obj – The number of the objectives. For this env, it is set to 3.

num_obj = 3#
reset(rng)#
step(state, action)#

Run one timestep of the environment’s dynamics.

Parameters:

  • energy_cost – The energy consumed by the hopper robot.

  • height – The height at which the hopper robot is located.

For more information, please refer to hopper env in brax.