evomo.problems.neuroevolution.morobtrol.mo_humanoidstandup#

Classes#

The multi-objective version of humanoidstandup.

class evomo.problems.neuroevolution.morobtrol.mo_humanoidstandup.MoHumanoidStandup(**kwargs)#

Bases: brax.envs.humanoidstandup.HumanoidStandup

The multi-objective version of humanoidstandup.

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 humanoidstandup env.

Parameters:: num_obj – The number of the objectives. For this env, it is set to 2.

step(state: brax.envs.base.State, action: jax.Array)#

Run one timestep of the environment’s dynamics.

Parameters:: quad_energy_cost – The energy consumed by the control force of the humanoidstandup robot.

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