├── .gitignore ├── README.md ├── configs ├── Navigation_MPC.json ├── Navigation_WO_MPC.json └── default.py ├── gen_GP.py ├── gp_human_fast.pickle ├── launch_experiment.py ├── mpc_pearl.yml ├── out_of_distribution_test ├── configs │ ├── Navigation_MPC.json │ ├── Navigation_WO_MPC.json │ └── default.py ├── gen_GP_mismatch.py ├── gp_human_fast.pickle ├── mismatch.py ├── output │ └── Navigation-MPC │ │ └── eps08 │ │ ├── context_encoder.pth │ │ ├── debug.log │ │ ├── extra_data.pkl │ │ ├── policy.pth │ │ ├── progress.csv │ │ ├── qf1.pth │ │ ├── qf2.pth │ │ ├── target_vf.pth │ │ ├── variant.json │ │ └── vf.pth ├── plot_trajectories.py ├── rlkit │ ├── __init__.py │ ├── core │ │ ├── MPC.py │ │ ├── MPC_CVaR.py │ │ ├── MPC_old.py │ │ ├── __init__.py │ │ ├── eval_util.py │ │ ├── logger.py │ │ ├── rl_algorithm.py │ │ ├── serializable.py │ │ ├── tabulate.py │ │ └── util.py │ ├── data_management │ │ ├── env_replay_buffer.py │ │ ├── normalizer.py │ │ ├── path_builder.py │ │ ├── replay_buffer.py │ │ └── simple_replay_buffer.py │ ├── envs │ │ ├── __init__.py │ │ ├── assets │ │ │ └── robot.png │ │ ├── navi_toy.py │ │ ├── planner │ │ │ ├── .idea │ │ │ │ ├── .gitignore │ │ │ │ ├── CloudRobot_planning_PY.iml │ │ │ │ ├── dictionaries │ │ │ │ │ └── sju5379.xml │ │ │ │ ├── inspectionProfiles │ │ │ │ │ ├── Project_Default.xml │ │ │ │ │ └── profiles_settings.xml │ │ │ │ ├── misc.xml │ │ │ │ └── modules.xml │ │ │ ├── Human_Planning.py │ │ │ ├── MPC_planning.py │ │ │ └── __pycache__ │ │ │ │ ├── Human_Planning.cpython-36.pyc │ │ │ │ └── Human_Planning.cpython-38.pyc │ │ ├── utils │ │ │ ├── __pycache__ │ │ │ │ ├── obstacles.cpython-36.pyc │ │ │ │ ├── obstacles.cpython-38.pyc │ │ │ │ ├── restaurant.cpython-36.pyc │ │ │ │ └── restaurant.cpython-38.pyc │ │ │ ├── obstacles.py │ │ │ └── restaurant.py │ │ └── wrappers.py │ ├── launchers │ │ ├── __init__.py │ │ ├── config.py │ │ └── launcher_util.py │ ├── policies │ │ ├── __init__.py │ │ ├── argmax.py │ │ ├── base.py │ │ └── simple.py │ ├── samplers │ │ ├── __init__.py │ │ ├── in_place.py │ │ ├── util.py │ │ └── util_gp.py │ └── torch │ │ ├── __init__.py │ │ ├── core.py │ │ ├── data_management │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── normalizer.cpython-36.pyc │ │ │ └── normalizer.cpython-38.pyc │ │ └── normalizer.py │ │ ├── distributions.py │ │ ├── modules.py │ │ ├── networks.py │ │ ├── pytorch_util.py │ │ └── sac │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── agent.cpython-36.pyc │ │ ├── agent.cpython-38.pyc │ │ ├── policies.cpython-36.pyc │ │ ├── policies.cpython-38.pyc │ │ ├── sac.cpython-36.pyc │ │ └── sac.cpython-38.pyc │ │ ├── agent.py │ │ ├── policies.py │ │ └── sac.py ├── scenarios │ ├── U.npy │ └── X.npy └── scenarios_out_of_distribution │ ├── U.npy │ └── X.npy ├── output ├── Navigation-MPC │ └── eps02 │ │ ├── context_encoder.pth │ │ ├── debug.log │ │ ├── extra_data.pkl │ │ ├── policy.pth │ │ ├── progress.csv │ │ ├── qf1.pth │ │ ├── qf2.pth │ │ ├── target_vf.pth │ │ ├── variant.json │ │ └── vf.pth └── plot_summary.py ├── rlkit ├── __init__.py ├── core │ ├── MPC.py │ ├── MPC_CVaR.py │ ├── MPC_old.py │ ├── __init__.py │ ├── eval_util.py │ ├── logger.py │ ├── rl_algorithm.py │ ├── serializable.py │ ├── tabulate.py │ └── util.py ├── data_management │ ├── env_replay_buffer.py │ ├── normalizer.py │ ├── path_builder.py │ ├── replay_buffer.py │ └── simple_replay_buffer.py ├── envs │ ├── __init__.py │ ├── assets │ │ └── robot.png │ ├── navi_toy.py │ ├── planner │ │ ├── .idea │ │ │ ├── .gitignore │ │ │ ├── CloudRobot_planning_PY.iml │ │ │ ├── dictionaries │ │ │ │ └── sju5379.xml │ │ │ ├── inspectionProfiles │ │ │ │ ├── Project_Default.xml │ │ │ │ └── profiles_settings.xml │ │ │ ├── misc.xml │ │ │ └── modules.xml │ │ ├── Human_Planning.py │ │ ├── MPC_planning.py │ │ └── __pycache__ │ │ │ ├── Human_Planning.cpython-36.pyc │ │ │ └── Human_Planning.cpython-38.pyc │ ├── utils │ │ ├── __pycache__ │ │ │ ├── obstacles.cpython-36.pyc │ │ │ ├── obstacles.cpython-38.pyc │ │ │ ├── restaurant.cpython-36.pyc │ │ │ └── restaurant.cpython-38.pyc │ │ ├── obstacles.py │ │ └── restaurant.py │ └── wrappers.py ├── launchers │ ├── __init__.py │ ├── config.py │ └── launcher_util.py ├── policies │ ├── __init__.py │ ├── argmax.py │ ├── base.py │ └── simple.py ├── samplers │ ├── __init__.py │ ├── in_place.py │ ├── util.py │ └── util_gp.py └── torch │ ├── __init__.py │ ├── core.py │ ├── data_management │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── normalizer.cpython-36.pyc │ │ └── normalizer.cpython-38.pyc │ └── normalizer.py │ ├── distributions.py │ ├── modules.py │ ├── networks.py │ ├── pytorch_util.py │ └── sac │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-38.pyc │ ├── agent.cpython-36.pyc │ ├── agent.cpython-38.pyc │ ├── policies.cpython-36.pyc │ ├── 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