CartPole Environment#

The CartPole environment is configured to allow non-stationarity in physics parameters like pole mass and gravity. See Gymnasium documentation for more details on the environment.

CartPole Animation

The CartPole Environment. GIF courtesy of the Gymnasium Documentation.#

See below for tunable parameters that can be modified to introduce non-stationarity.

Tunable Parameters#

Parameter

Description

Default Value

gravity

Magnitude of gravitational acceleration

9.8

masscart

Mass of the cart

1.0

masspole

Mass of the pole

0.1

force_mag

Magnitude of the force applied to the cart

10.0

tau

Time interval for state updates

0.02

length

Length of the pole

0.5