Multi-Goal Reinforcement Learning environments for simulated Franka Emika Panda robot

This technical report presents panda-gym, a set Reinforcement Learning (RL) environments for the Franka Emika Panda robot integrated with OpenAI Gym. Five tasks are included: reach, push, slide, pick & place and stack. They all follow a Multi-Goal RL framework, allowing to use goal-oriented RL algorithms. To foster open-research, we chose to use the open-source physics engine PyBullet. The implementation chosen for this package allows to define very easily new tasks or new robots. This report also presents a baseline of results obtained with state-of-the-art model-free off-policy algorithms. panda-gym is open-source at https://github.com/qgallouedec/panda-gym.