Cart Pole
Bases:
CartPole environment matching the Gymnasium Cart Pole environment.
Note
To achieve identical dynamics to Gymnasium set solver=diffrax.Euler().
Action Space
The action space is discrete with two actions:
- 0: Push cart to the left
- 1: Push cart to the right
The action applies a fixed magnitude force to the cart in the specified direction for the duration of the time step.
Observation Space
The observation space is a 4-dimensional continuous space representing the state of the cart and pole:
| Index | Observation | Min Value | Max Value |
|---|---|---|---|
| 0 | Cart Position | -4.8 | 4.8 |
| 1 | Cart Velocity | -Inf | Inf |
| 2 | Pole Angle | -24 deg (-0.418 rad) | 24 deg (0.418 rad) |
| 3 | Pole Angular Velocity | -Inf | Inf |
These values are double the termination thresholds to allow for some margin.
These limits can be modified via the theta_threshold_radians and x_threshold parameters.
Reward
The reward is 1 for every step taken, including the termination step.
Termination
The episode terminates when:
- The pole angle exceeds ±12 degrees from vertical.
- The cart position exceeds ±2.4 units from the center.
These values can be modified via the theta_threshold_radians and x_threshold parameters.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
gravity
|
|
The gravity constant. |
9.8
|
cart_mass
|
|
The mass of the cart. |
1.0
|
pole_mass
|
|
The mass of the pole. |
0.1
|
half_length
|
|
The half-length of the pole. |
0.5
|
force_mag
|
|
The magnitude of the force applied to the cart. |
10.0
|
theta_threshold_radians
|
|
The angle threshold for terminating the episode. |
12 * 2 *
|
x_threshold
|
|
The position threshold for terminating the episode. |
2.4
|
dt
|
|
The time step for the simulation. |
0.02
|
solver
|
|
The differential equation solver used for simulating the dynamics. |
None
|
stepsize_controller
|
|
The step size controller for the solver. |
None
|