Inverted Pendulum Environment

The Inverted Pendulum environment is a high-dimensional continuous control task where a cart must balance a pole upright while moving along a one-dimensional track. The goal is to keep the pole balanced while maximizing the distance traveled by the cart. See the Gymnasium documentation for more details.

The Inverted Pendulum Environment. GIF courtesy of the Gymnasium Documentation.

Tunable Parameters

Parameter	Description	Default Value
gravity	Global gravitational acceleration	[ 0. 0. -9.81]
pole_mass	Mass of the pole	5.018591641363306
cart_mass	Mass of the cart	10.47197551196598
rail_friction	Coefficient of friction for the rail	1.0