├── .gitignore ├── 1_research.ipynb ├── 2_train_agent.md ├── 3_results_analysis.ipynb ├── ARS_Carla ├── LICENSE ├── code │ ├── __pycache__ │ │ ├── filter.cpython-37.pyc │ │ ├── logz.cpython-37.pyc │ │ ├── optimizers.cpython-37.pyc │ │ ├── policies.cpython-37.pyc │ │ ├── shared_noise.cpython-37.pyc │ │ └── utils.cpython-37.pyc │ ├── ars_carla.py │ ├── filter.py │ ├── logz.py │ ├── lqr_env.py │ ├── optimizers.py │ ├── policies.py │ ├── run_policy.py │ ├── shared_noise.py │ └── utils.py ├── data │ └── old_logs │ │ ├── 2020-12-16_1250steps_part1 │ │ ├── lin_policy_plus.npz │ │ ├── log.txt │ │ └── params.json │ │ ├── 2020-12-16_1250steps_part2 │ │ ├── lin_policy_plus.npz │ │ ├── log.txt │ │ └── params.json │ │ ├── 2020-12-16_1250steps_part3 │ │ ├── lin_policy_plus.npz │ │ ├── log.txt │ │ └── params.json │ │ ├── 2020-12-16_1250steps_part4 │ │ ├── lin_policy_plus.npz │ │ ├── log.txt │ │ └── params.json │ │ ├── 2020-12-16_test │ │ ├── log.txt │ │ └── params.json │ │ ├── 2020-12-19_test │ │ ├── log.txt │ │ └── params.json │ │ └── 2020-12-29_test │ │ ├── log.txt │ │ └── params.json └── trained_policies │ ├── Ant-v1 │ └── lin_policy_plus.npz │ ├── HalfCheetah-v1 │ └── lin_policy_plus.npz │ ├── Hopper-v1 │ └── lin_policy_plus.npz │ ├── Humanoid-v1 │ ├── almost_fall_over │ │ └── lin_policy_plus.npz │ ├── arm_swing │ │ └── lin_policy_plus.npz │ ├── average_one │ │ └── lin_policy_plus.npz │ ├── big_steps │ │ └── lin_policy_plus.npz │ ├── galloping │ │ └── lin_policy_plus.npz │ ├── halfrun │ │ └── lin_policy_plus.npz │ ├── humanoid_grapevine │ │ └── lin_policy_plus.npz │ ├── humanoid_hop_leg_kick │ │ └── lin_policy_plus.npz │ ├── humanoid_hop_one_leg │ │ └── lin_policy_plus.npz │ ├── humanoid_hop_one_leg_sideways │ │ └── lin_policy_plus.npz │ ├── humanoid_hunched_run │ │ └── lin_policy_plus.npz │ ├── humanoid_hunched_skip_one_leg │ │ └── lin_policy_plus.npz │ ├── humanoid_kick_up │ │ └── lin_policy_plus.npz │ ├── humanoid_on_ice │ │ └── lin_policy_plus.npz │ ├── humanoid_run_backwards │ │ └── lin_policy_plus.npz │ ├── humanoid_run_sideways │ │ └── lin_policy_plus.npz │ ├── humanoid_skip_one_leg │ │ └── lin_policy_plus.npz │ ├── hunched_sideways │ │ └── lin_policy_plus.npz │ ├── jumping │ │ └── lin_policy_plus.npz │ ├── limp_arms_up │ │ └── lin_policy_plus.npz │ ├── policy_reward_11600 │ │ └── lin_policy_plus.npz │ ├── spin │ │ ├── 8020 │ │ │ └── lin_policy_plus.npz │ │ ├── 9363 │ │ │ └── lin_policy_plus.npz │ │ └── lin_policy_plus.npz │ ├── stiff_leg_hop │ │ └── lin_policy_plus.npz │ └── tiptoe │ │ └── lin_policy_plus.npz │ ├── Swimmer-v1 │ └── lin_policy_plus.npz │ └── Walker2d-v1 │ ├── gait1.npz │ ├── gait2.npz │ ├── gait3.npz │ ├── gait4.npz │ └── gait5_reward_11200.npz ├── README.md ├── ars_practice.ipynb ├── ars_weights ├── 2020-12-12 │ └── recent_weights.csv └── 2020-12-21 │ └── recent_weights.csv ├── environment.yaml ├── images ├── WorkerIO.png ├── ars_formula_explained.png ├── bipedal_walker_results.png ├── test_cam.png └── training_results.png ├── train_images └── 2020-12-21.csv └── videos └── BipedalWalker-v3 ├── openaigym.episode_batch.0.15084.stats.json ├── openaigym.manifest.0.15084.manifest.json ├── openaigym.video.0.15084.video000064.meta.json ├── openaigym.video.0.15084.video000064.mp4 ├── openaigym.video.0.15084.video003314.meta.json ├── openaigym.video.0.15084.video003314.mp4 ├── openaigym.video.0.15084.video006564.meta.json ├── openaigym.video.0.15084.video006564.mp4 ├── openaigym.video.0.15084.video009814.meta.json ├── openaigym.video.0.15084.video009814.mp4 ├── openaigym.video.0.15084.video013064.meta.json ├── openaigym.video.0.15084.video013064.mp4 ├── openaigym.video.0.15084.video016314.meta.json ├── openaigym.video.0.15084.video016314.mp4 ├── openaigym.video.0.15084.video019564.meta.json ├── openaigym.video.0.15084.video019564.mp4 ├── openaigym.video.0.15084.video022814.meta.json ├── openaigym.video.0.15084.video022814.mp4 ├── openaigym.video.0.15084.video026064.meta.json ├── openaigym.video.0.15084.video026064.mp4 ├── openaigym.video.0.15084.video029314.meta.json ├── openaigym.video.0.15084.video029314.mp4 ├── openaigym.video.0.15084.video032564.meta.json ├── openaigym.video.0.15084.video032564.mp4 ├── openaigym.video.0.15084.video035814.meta.json ├── openaigym.video.0.15084.video035814.mp4 ├── openaigym.video.0.15084.video039064.meta.json ├── openaigym.video.0.15084.video039064.mp4 ├── openaigym.video.0.15084.video042314.meta.json ├── openaigym.video.0.15084.video042314.mp4 ├── openaigym.video.0.15084.video045564.meta.json ├── openaigym.video.0.15084.video045564.mp4 ├── openaigym.video.0.15084.video048814.meta.json ├── openaigym.video.0.15084.video048814.mp4 ├── openaigym.video.0.15084.video052064.meta.json ├── openaigym.video.0.15084.video052064.mp4 ├── openaigym.video.0.15084.video055314.meta.json ├── openaigym.video.0.15084.video055314.mp4 ├── openaigym.video.0.15084.video058564.meta.json ├── openaigym.video.0.15084.video058564.mp4 ├── 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