Benchmark / Kinematic 2D / StickButton2D

StickButton2D

Environment demonstration

Description

A 2D environment where the goal is to touch all buttons, possibly by using a stick for buttons that are out of the robot's direct reach.

In this environment, there are always 3 buttons.

The robot has a movable circular base and a retractable arm with a rectangular vacuum end effector.

Variants

This environment has 5 variant(s).

StickButton2D-b1

This variant has 1 button to press.

StickButton2D-b10

This variant has 10 buttons to press.

StickButton2D-b2

This variant has 2 buttons to press.

StickButton2D-b3

This variant has 3 buttons to press.

StickButton2D-b5

This variant has 5 buttons to press.

References

This environment is based on the Stick Button environment that was originally introduced in "Learning Neuro-Symbolic Skills for Bilevel Planning" (Silver et al., CoRL 2022). This version is simplified in that the robot or stick need only make contact with a button to press it, rather than explicitly pressing. Also, the full stick works for pressing, not just the tip.

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