Robots & Learning (MDP)

APIs for authoring robot agents and reinforcement-learning tasks: the MDP component model (observations, rewards, terminations, randomization), robot controllers, and agent management.

Type	Kind	Summary
ActionGroupSlotInfo	class	Describes a resolved action group for multi-policy control.
AgentBatch	class
AgentResetData	struct
BodyData	class
CalibrationMapping	struct
CommandManager	class
ComponentDescriptor	struct	Describes one available MDP component for the capability manifest.
ContractNegotiator	class	Validates a TaskContract, resolves optional terms, configures the engine's observation/reward/termination pipeline, and returns a NegotiatedTaskSession that subsequent Step/Reset calls reference.
ContractValidator	class	Validates a TaskContract against the MdpComponentRegistry.
ExternalAgentRegistry	static class
HzMath	static class
HzObservations	static class
IAuxiliaryDataProvider	interface	Auxiliary data provider.
ICommand	interface
IMdpObservation	interface	Engine-side observation function.
IMdpReward	interface	Engine-side reward signal.
IMdpTermination	interface	Engine-side termination condition.
IRandomizationHandler	interface	Domain randomization handler.
JointConfig	struct
ManifestSnapshot	class	Snapshot of all MDP component descriptors for a given robot.
MdpComponentRegistry	static class	Central registration table for engine-side MDP components.
MdpContext	class	Immutable context passed to MDP component Compute/Evaluate methods.
MdpObservationAttribute	class	Attributes for marking user C# script methods as MDP components.
MdpRewardAttribute	class	Marks a static method as an MDP reward component.
MdpScriptDiscovery	static class	Discovers user-defined MDP components from loaded C# assemblies.
MdpTerminationAttribute	class	Marks a static method as an MDP termination component.
NegotiatedSession	class	Runtime state for a negotiated task session.
NegotiationOutcome	class	Result of a negotiation attempt.
ObservationComponents	static class	Built-in observation components that extract robot state from MuJoCo.
ObservationSlotInfo	class	Describes one slot in the negotiated observation layout.
ParamDescriptor	struct	Interfaces for engine-side MDP (Markov Decision Process) components.
RandomizationDescriptor	struct	Extended descriptor for randomization components with range defaults.
RandomizationHandlers	static class	Built-in domain randomization handlers.
RefPoseCalibrator	class
RefPoseExtractor	class
RewardComponents	static class	Built-in reward signal components computed from MuJoCo state.
RobotAgent	abstract class
RobotController	struct
RobotEnv	class
RobotManager	class
StateConfig	struct
TerminationComponents	static class	Built-in termination conditions evaluated from MuJoCo state.
ValidationMessage	class	Individual validation message with actionable suggestion.
ValidationResult	class	Result of contract validation.
VelocityCommand	class