Humanoid
State and action spaces
The default 348-value observation concatenates qpos[2..], all qvel, non-world body inertias (cinert), non-world body spatial velocities (cvel), actuator generalized forces after the six root DOFs, and non-world external contact forces. Configuration can retain root x/y or omit any auxiliary group. The default action is 17 controls in \([-0.4,0.4]\).
Dynamics, reward, and info
Horizontal velocity is computed from the mass-weighted body center. With simulator control \(u\) and external forces \(f_c\),
\[ r=w_fv_x+r_{healthy}-w_u\lVert u\rVert_2^2- \operatorname{clip}(w_c\lVert f_c\rVert_2^2,c_{min},c_{max}). \]
Health is strict root height \(z\in(z_{min},z_{max})\). Info exposes xyz position, xy velocity, summed tendon length/velocity, and reward components.
Episode end
Unhealthy state terminates when configured; the horizon truncates.
Configuration
HumanoidConfig exposes builders for:
| Setting | Default |
|---|---|
| XML / frame skip | embedded / 5 |
| forward, control, contact, healthy weights | 1.25, 0.1, 5e-7, 5 |
| contact-cost clamp | (-∞,10] |
| healthy z range / terminate unhealthy | (1,2) / true |
| reset noise | 0.01 uniform qpos/qvel |
| exclude x/y | true |
include cinert, cvel, qfrc_actuator, cfrc_ext | all true |
| horizon | 1000 |
Reference: Gymnasium Humanoid.