├── .idea ├── dictionaries │ └── houzhimin.xml ├── misc.xml ├── modules.xml ├── vcs.xml ├── vrep_peg_in_hole.iml └── workspace.xml ├── README.md ├── algorithms ├── DDPG.py ├── PD.py ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ └── logger.cpython-36.pyc ├── a2c │ ├── README.md │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ └── utils.cpython-36.pyc │ ├── a2c.py │ ├── runner.py │ └── utils.py ├── acer │ ├── README.md │ ├── __init__.py │ ├── acer.py │ ├── buffer.py │ ├── defaults.py │ ├── policies.py │ └── runner.py ├── acktr │ ├── README.md │ ├── __init__.py │ ├── acktr.py │ ├── defaults.py │ ├── kfac.py │ ├── kfac_utils.py │ └── utils.py ├── bench │ ├── __init__.py │ ├── benchmarks.py │ └── monitor.py ├── calculations.py ├── common │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ ├── __init__.cpython-36.pyc │ │ ├── console_util.cpython-35.pyc │ │ ├── console_util.cpython-36.pyc │ │ ├── dataset.cpython-35.pyc │ │ ├── dataset.cpython-36.pyc │ │ ├── input.cpython-36.pyc │ │ ├── logger.cpython-35.pyc │ │ ├── logger.cpython-36.pyc │ │ ├── math_util.cpython-35.pyc │ │ ├── math_util.cpython-36.pyc │ │ ├── misc_util.cpython-35.pyc │ │ ├── misc_util.cpython-36.pyc │ │ ├── models.cpython-36.pyc │ │ ├── mpi_adam.cpython-35.pyc │ │ ├── mpi_adam.cpython-36.pyc │ │ ├── mpi_running_mean_std.cpython-36.pyc │ │ ├── schedules.cpython-36.pyc │ │ ├── segment_tree.cpython-36.pyc │ │ └── tf_util.cpython-36.pyc │ ├── atari_wrappers.py │ ├── cg.py │ ├── cmd_util.py │ ├── console_util.py │ ├── dataset.py │ ├── distributions.py │ ├── input.py │ ├── logger.py │ ├── math_util.py │ ├── misc_util.py │ ├── models.py │ ├── mpi_adam.py │ ├── mpi_adam_optimizer.py │ ├── mpi_fork.py │ ├── mpi_moments.py │ ├── mpi_running_mean_std.py │ ├── mpi_util.py │ ├── policies.py │ ├── retro_wrappers.py │ ├── runners.py │ ├── running_mean_std.py │ ├── schedules.py │ ├── segment_tree.py │ ├── tests │ │ ├── __init__.py │ │ ├── envs │ │ │ ├── __init__.py │ │ │ ├── fixed_sequence_env.py │ │ │ ├── identity_env.py │ │ │ └── mnist_env.py │ │ ├── test_cartpole.py │ │ ├── test_doc_examples.py │ │ ├── test_env_after_learn.py │ │ ├── test_fixed_sequence.py │ │ ├── test_identity.py │ │ ├── test_mnist.py │ │ ├── test_schedules.py │ │ ├── test_segment_tree.py │ │ ├── test_serialization.py │ │ ├── test_tf_util.py │ │ └── util.py │ ├── tf_util.py │ ├── tile_images.py │ └── vec_env │ │ ├── __init__.py │ │ ├── dummy_vec_env.py │ │ ├── shmem_vec_env.py │ │ ├── subproc_vec_env.py │ │ ├── test_vec_env.py │ │ ├── util.py │ │ ├── vec_frame_stack.py │ │ ├── vec_monitor.py │ │ └── vec_normalize.py ├── controller.py ├── ddpg │ ├── README.md │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ ├── __init__.cpython-36.pyc │ │ ├── ddpg_learner.cpython-35.pyc │ │ ├── ddpg_learner.cpython-36.pyc │ │ ├── memory.cpython-36.pyc │ │ ├── models.cpython-36.pyc │ │ └── noise.cpython-36.pyc │ ├── ddpg.py │ ├── ddpg_learner.py │ ├── dynamics │ │ ├── __init__.py │ │ ├── config.py │ │ ├── dynamics.py │ │ ├── dynamics_lr.py │ │ ├── dynamics_lr_prior.py │ │ ├── dynamics_prior_gmm.py │ │ ├── dynamics_utils.py │ │ ├── sample │ │ │ ├── __init__.py │ │ │ ├── sample.py │ │ │ └── sample_list.py │ │ └── utility │ │ │ ├── __init__.py │ │ │ ├── data_logger.py │ │ │ ├── general_utils.py │ │ │ └── gmm.py │ ├── memory.py │ ├── model │ │ ├── __init__.py │ │ ├── checkpoint │ │ ├── ddpg_fuzzy.data-00000-of-00001 │ │ ├── ddpg_fuzzy.index │ │ ├── ddpg_fuzzy.meta │ │ ├── ddpg_none_fuzzy.data-00000-of-00001 │ │ ├── ddpg_none_fuzzy.index │ │ └── ddpg_none_fuzzy.meta │ ├── models.py │ └── noise.py ├── deepq │ ├── README.md │ ├── __init__.py │ ├── assembly │ │ ├── Behaviorpolicy.py │ │ ├── Connect_Finall.py │ │ ├── Env_robot_control.py │ │ ├── __init__.py │ │ ├── data │ │ │ ├── __init__.py │ │ │ ├── figure │ │ │ │ ├── jpg │ │ │ │ │ └── raw_data.jpg │ │ │ │ └── pdf │ │ │ │ │ ├── chinese_different_gamma.pdf │ │ │ │ │ ├── chinese_different_policies_b.pdf │ │ │ │ │ ├── chinese_event_learning.pdf │ │ │ │ │ ├── chinese_off_policy_1.pdf │ │ │ │ │ ├── chinese_off_policy_2.pdf │ │ │ │ │ ├── chinese_off_policy_3.pdf │ │ │ │ │ ├── different_gamma.pdf │ │ │ │ │ ├── different_policies_b.pdf │ │ │ │ │ ├── different_policy.pdf │ │ │ │ │ ├── event_learning.pdf │ │ │ │ │ └── raw_data.pdf │ │ │ ├── impedance_controller_episode_actions.npy │ │ │ ├── impedance_controller_episode_states.npy │ │ │ ├── learning_result │ │ │ ├── learning_result_1 │ │ │ ├── learning_result_2 │ │ │ ├── learning_result_different_gamma │ │ │ ├── learning_result_different_gamma_new │ │ │ ├── learning_result_different_gamma_six_force │ │ │ ├── learning_result_different_policy │ │ │ ├── learning_result_different_policy_new │ │ │ ├── learning_result_different_policy_new_1 │ │ │ ├── learning_result_different_policy_new_2 │ │ │ ├── learning_result_different_policy_new_3 │ │ │ ├── learning_result_policy │ │ │ ├── learning_result_six_force │ │ │ ├── learning_result_six_force_gamma_0.9 │ │ │ ├── plot_result.py │ │ │ ├── prediction_result.npy │ │ │ ├── prediction_result_1.npy │ │ │ ├── prediction_result_different_gamma.npy │ │ │ ├── prediction_result_different_gamma_six_force.npy │ │ │ └── prediction_result_policy.npy │ │ ├── fuzzy_control.py │ │ ├── fuzzy_control_new.py │ │ ├── fuzzy_rules.jpg │ │ ├── fuzzy_rules.pdf │ │ ├── impedance_control.py │ │ └── run_main.py │ ├── build_graph.py │ ├── deepq.py │ ├── defaults.py │ ├── experiments │ │ ├── __init__.py │ │ ├── custom_cartpole.py │ │ ├── enjoy_cartpole.py │ │ ├── enjoy_mountaincar.py │ │ ├── enjoy_pong.py │ │ ├── evaluate_assembly.py │ │ ├── exp_second │ │ │ └── __init__.py │ │ ├── normal_control.py │ │ ├── performance_test_assembly.py │ │ ├── train_assembly.py │ │ ├── train_cartpole.py │ │ ├── train_mountaincar.py │ │ └── train_pong.py │ ├── models.py │ ├── old_deepq.py │ ├── replay_buffer.py │ └── utils.py ├── gail │ ├── README.md │ ├── __init__.py │ ├── adversary.py │ ├── behavior_clone.py │ ├── dataset │ │ ├── __init__.py │ │ └── mujoco_dset.py │ ├── gail-eval.py │ ├── mlp_policy.py │ ├── result │ │ ├── HalfCheetah-normalized-deterministic-scores.png │ │ ├── HalfCheetah-normalized-stochastic-scores.png │ │ ├── HalfCheetah-unnormalized-deterministic-scores.png │ │ ├── HalfCheetah-unnormalized-stochastic-scores.png │ │ ├── Hopper-normalized-deterministic-scores.png │ │ ├── Hopper-normalized-stochastic-scores.png │ │ ├── Hopper-unnormalized-deterministic-scores.png │ │ ├── Hopper-unnormalized-stochastic-scores.png │ │ ├── Humanoid-normalized-deterministic-scores.png │ │ ├── Humanoid-normalized-stochastic-scores.png │ │ ├── Humanoid-unnormalized-deterministic-scores.png │ │ ├── Humanoid-unnormalized-stochastic-scores.png │ │ ├── HumanoidStandup-normalized-deterministic-scores.png │ │ ├── HumanoidStandup-normalized-stochastic-scores.png │ │ ├── HumanoidStandup-unnormalized-deterministic-scores.png │ │ ├── HumanoidStandup-unnormalized-stochastic-scores.png │ │ ├── Walker2d-normalized-deterministic-scores.png │ │ ├── Walker2d-normalized-stochastic-scores.png │ │ ├── Walker2d-unnormalized-deterministic-scores.png │ │ ├── Walker2d-unnormalized-stochastic-scores.png │ │ ├── gail-result.md │ │ ├── halfcheetah-training.png │ │ ├── hopper-training.png │ │ ├── humanoid-training.png │ │ ├── humanoidstandup-training.png │ │ └── walker2d-training.png │ ├── run_mujoco.py │ ├── statistics.py │ └── trpo_mpi.py ├── gps │ ├── __init__.py │ ├── agent │ │ ├── ABB │ │ │ ├── __init__.py │ │ │ └── agent_abb.py │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── agent_utils.py │ │ ├── box2d │ │ │ ├── __init__.py │ │ │ ├── agent_box2d.py │ │ │ ├── arm_world.py │ │ │ ├── framework.py │ │ │ ├── point_mass_world.py │ │ │ ├── pygame_framework.py │ │ │ └── settings.py │ │ ├── config.py │ │ ├── mjc │ │ │ ├── __init__.py │ │ │ └── agent_mjc.py │ │ └── ros │ │ │ ├── __init__.py │ │ │ ├── agent_ros.py │ │ │ └── ros_utils.py │ ├── algorithm │ │ ├── __init__.py │ │ ├── algorithm.py │ │ ├── algorithm_badmm.py │ │ ├── algorithm_mdgps.py │ │ ├── algorithm_mdgps_pilqr.py │ │ ├── algorithm_pigps.py │ │ ├── algorithm_traj_opt.py │ │ ├── algorithm_traj_opt_pi2.py │ │ ├── algorithm_traj_opt_pilqr.py │ │ ├── algorithm_utils.py │ │ ├── config.py │ │ ├── cost │ │ │ ├── __init__.py │ │ │ ├── config.py │ │ │ ├── cost.py │ │ │ ├── cost_action.py │ │ │ ├── cost_binary_region.py │ │ │ ├── cost_fk.py │ │ │ ├── cost_fk_blocktouch.py │ │ │ ├── cost_lin_wp.py │ │ │ ├── cost_state.py │ │ │ ├── cost_sum.py │ │ │ └── cost_utils.py │ │ ├── dynamics │ │ │ ├── __init__.py │ │ │ ├── config.py │ │ │ ├── dynamics.py │ │ │ ├── dynamics_lr.py │ │ │ ├── dynamics_lr_prior.py │ │ │ ├── dynamics_prior_gmm.py │ │ │ └── dynamics_utils.py │ │ ├── policy │ │ │ ├── __init__.py │ │ │ ├── caffe_policy.py │ │ │ ├── config.py │ │ │ ├── lin_gauss_init.py │ │ │ ├── lin_gauss_policy.py │ │ │ ├── policy.py │ │ │ ├── policy_prior.py │ │ │ ├── policy_prior_gmm.py │ │ │ └── tf_policy.py │ │ ├── policy_opt │ │ │ ├── __init__.py │ │ │ ├── config.py │ │ │ ├── policy_layers.py │ │ │ ├── policy_opt.py │ │ │ ├── policy_opt_caffe.py │ │ │ ├── policy_opt_tf.py │ │ │ ├── policy_opt_utils.py │ │ │ ├── tf_checkpoint │ │ │ │ └── .gitkeep │ │ │ ├── tf_model_example.py │ │ │ └── tf_utils.py │ │ └── traj_opt │ │ │ ├── __init__.py │ │ │ ├── config.py │ │ │ ├── traj_opt.py │ │ │ ├── traj_opt_lqr.py │ │ │ ├── traj_opt_lqr_python.py │ │ │ ├── traj_opt_pi2.py │ │ │ ├── traj_opt_pilqr.py │ │ │ └── traj_opt_utils.py │ ├── assembly_main.py │ ├── gps_main.py │ ├── gui │ │ ├── __init__.py │ │ ├── action_panel.py │ │ ├── config.py │ │ ├── gps_training_gui.py │ │ ├── image_visualizer.py │ │ ├── mean_plotter.py │ │ ├── plotter_3d.py │ │ ├── ps3_config.py │ │ ├── realtime_plotter.py │ │ ├── target_setup_gui.py │ │ ├── textbox.py │ │ └── util.py │ ├── proto │ │ └── __init__.py │ ├── sample │ │ ├── __init__.py │ │ ├── sample.py │ │ └── sample_list.py │ └── utility │ │ ├── __init__.py │ │ ├── data_logger.py │ │ ├── general_utils.py │ │ └── gmm.py ├── her │ ├── README.md │ ├── __init__.py │ ├── actor_critic.py │ ├── ddpg.py │ ├── experiment │ │ ├── __init__.py │ │ ├── config.py │ │ ├── data_generation │ │ │ ├── __init__.py │ │ │ └── fetch_data_generation.py │ │ ├── play.py │ │ ├── plot.py │ │ └── train.py │ ├── her.py │ ├── normalizer.py │ ├── replay_buffer.py │ ├── rollout.py │ └── util.py ├── logger.py ├── plot_results.py ├── ppo1 │ ├── README.md │ ├── __init__.py │ ├── cnn_policy.py │ ├── mlp_policy.py │ ├── pposgd_simple.py │ ├── run_atari.py │ ├── run_humanoid.py │ ├── run_mujoco.py │ └── run_robotics.py ├── ppo2 │ ├── README.md │ ├── __init__.py │ ├── defaults.py │ └── ppo2.py ├── run_this.py └── trpo_mpi │ ├── README.md │ ├── __init__.py │ ├── defaults.py │ └── trpo_mpi.py ├── envs └── vrepenv.py ├── scenes ├── Scene_Double_Peg.ttt ├── Scene_Single_Peg.ttt └── Scene_Triple_Peg.ttt └── support_files ├── __init__.py ├── __pycache__ ├── __init__.cpython-35.pyc ├── vrep.cpython-35.pyc 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