{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/an-open-source-multi-goal-reinforcement","title":"An Open-Source Multi-Goal Reinforcement Learning Environment for Robotic Manipulation with Pybullet","arxiv_id":"2105.05985","date":"2021-05-12","proceeding":null,"authors":["Xintong Yang","Ze Ji","Jing Wu","Yu-Kun Lai"],"abstract":"This work re-implements the OpenAI Gym multi-goal robotic manipulation environment, originally based on the commercial Mujoco engine, onto the open-source Pybullet engine. By comparing the performances of the Hindsight Experience Replay-aided Deep Deterministic Policy Gradient agent on both environments, we demonstrate our successful re-implementation of the original environment. Besides, we provide users with new APIs to access a joint control mode, image observations and goals with customisable camera and a built-in on-hand camera. We further design a set of multi-step, multi-goal, long-horizon and sparse reward robotic manipulation tasks, aiming to inspire new goal-conditioned reinforcement learning algorithms for such challenges. We use a simple, human-prior-based curriculum learning method to benchmark the multi-step manipulation tasks. Discussions about future research opportunities regarding this kind of tasks are also provided.","url_abs":"https://arxiv.org/abs/2105.05985v1","url_pdf":"https://arxiv.org/pdf/2105.05985v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"an-open-source-multi-goal-reinforcement","repo_url":"https://github.com/IanYangChina/pybullet_multigoal_gym","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"an-open-source-multi-goal-reinforcement","repo_url":"https://github.com/IanYangChina/taros2021codes","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"mujoco","task_name":"MuJoCo"},{"task_slug":"multi-goal-reinforcement-learning","task_name":"Multi-Goal Reinforcement Learning"},{"task_slug":"openai-gym","task_name":"OpenAI Gym"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}