├── .gitignore ├── README.md ├── configs ├── env │ ├── D2D │ │ ├── env_config_for_ppo_easy_b_2.json │ │ ├── env_config_for_ppo_medium_b_05.json │ │ ├── env_config_for_sac_easy_b_05.json │ │ ├── env_config_for_sac_easy_b_1.json │ │ ├── env_config_for_sac_easy_b_2.json │ │ ├── env_config_for_sac_hard_b_0125.json │ │ ├── env_config_for_sac_hard_b_025.json │ │ ├── env_config_for_sac_hard_b_05.json │ │ ├── env_config_for_sac_hard_b_1.json │ │ ├── env_config_for_sac_hard_b_2.json │ │ ├── env_config_for_sac_medium2_b_025.json │ │ ├── env_config_for_sac_medium2_b_05.json │ │ ├── env_config_for_sac_medium2_b_2.json │ │ ├── env_config_for_sac_medium2_sparse.json │ │ ├── env_config_for_sac_medium_b_0125.json │ │ ├── env_config_for_sac_medium_b_025.json │ │ ├── env_config_for_sac_medium_b_05.json │ │ ├── env_config_for_sac_medium_b_05_angle_only.json │ │ ├── env_config_for_sac_medium_b_1.json │ │ ├── env_config_for_sac_medium_b_1_angle_only.json │ │ ├── env_config_for_sac_medium_b_2.json │ │ ├── env_config_for_sac_medium_b_4.json │ │ ├── env_config_for_sac_relative_hard_b_0125.json │ │ ├── env_config_for_sac_relative_hard_b_025.json │ │ ├── env_config_for_sac_relative_hard_b_05.json │ │ ├── env_config_for_sac_relative_hard_b_1.json │ │ ├── env_config_for_sac_relative_hard_b_2.json │ │ ├── env_config_for_sac_relative_hard_b_4.json │ │ └── env_hard_config_for_sac.json │ ├── IRPO │ │ ├── env_hard_end2end_MR_config_for_ppo.json │ │ ├── env_hard_end2end_NMR_config_for_ppo.json │ │ ├── env_hard_guidance_MR_config_for_ppo.json │ │ └── env_hard_guidance_MR_config_for_ppo_with_dg_from_demo1.json │ ├── MSR │ │ ├── env_config_for_ppo_10hz_medium_b_05.json │ │ ├── env_config_for_ppo_10hz_medium_b_05_for_skip5.json │ │ └── env_config_for_ppo_2hz_medium_b_05.json │ ├── VVCGym │ │ ├── env_config_for_ppo.json │ │ ├── env_config_for_ppo_easy.json │ │ ├── env_config_for_ppo_easy_angle_0375_v_0625.json │ │ ├── env_config_for_ppo_easy_angle_0625_v_0375.json │ │ ├── env_config_for_ppo_easy_angle_075_v_025.json │ │ ├── env_config_for_ppo_easy_angle_0875_v_0125.json │ │ ├── env_config_for_ppo_easy_b_025.json │ │ ├── env_config_for_ppo_easy_b_1.json │ │ ├── env_config_for_ppo_easy_b_2.json │ │ ├── env_config_for_ppo_easy_b_4.json │ │ ├── env_config_for_ppo_easy_big_punishment.json │ │ ├── env_config_for_ppo_easy_end_to_end_mode.json │ │ ├── env_config_for_ppo_easy_medium_punishment.json │ │ ├── env_config_for_ppo_easy_no_terminations.json │ │ ├── env_config_for_ppo_easy_no_terminations_b_1.json │ │ ├── env_config_for_ppo_easy_small_punishment.json │ │ ├── env_config_for_sac.json │ │ ├── env_config_for_sac_end_to_end_mode.json │ │ ├── env_config_for_sac_no_terminations_b_05.json │ │ ├── env_config_for_sac_no_terminations_b_1.json │ │ ├── env_config_for_sac_non_markov_reward_persist_1_sec.json │ │ ├── env_config_for_sac_non_markov_reward_persist_2_sec.json │ │ ├── env_config_for_sac_non_markov_reward_persist_3_sec.json │ │ ├── env_config_for_sac_sparse_negative_non_markov_reward_persist_1_sec.json │ │ ├── env_config_for_sac_sparse_negative_non_markov_reward_persist_2_sec.json │ │ ├── env_config_for_sac_sparse_negative_non_markov_reward_persist_3_sec.json │ │ ├── env_config_sparse_negative_reward_for_sac.json │ │ ├── env_config_sparse_non_markov_reward_for_sac.json │ │ ├── env_config_sparse_reward_for_sac.json │ │ ├── env_hard_config_for_sac.json │ │ └── env_hard_config_for_sac_sparse_negative_non_markov_reward_persist_1_sec.json │ ├── disc │ │ ├── env_config_for_ppo_easy_e2e_b_0_5.json │ │ └── single_goal │ │ │ ├── env_config_for_ppo_medium_b_05_single_goal_200_20_30.json │ │ │ ├── env_config_for_ppo_medium_b_05_single_goal_200_20_30_delta_0_1.json │ │ │ ├── env_config_for_ppo_medium_b_05_single_goal_200_20_30_delta_0_3.json │ │ │ ├── env_config_for_ppo_medium_b_05_single_goal_200_20_30_delta_0_5.json │ │ │ └── env_config_for_ppo_medium_b_05_single_goal_200_20_30_delta_1.json │ ├── fixed_target │ │ └── env_config_for_ppo_100_-25_75.json │ ├── ladderrl │ │ ├── env_config_for_ppo_easy_b_2.json │ │ ├── env_config_for_ppo_medium_b_05.json │ │ ├── env_config_for_sac_easy_b_05.json │ │ ├── env_config_for_sac_easy_b_1.json │ │ ├── env_config_for_sac_easy_b_2.json │ │ ├── env_config_for_sac_hard_b_0125.json │ │ ├── env_config_for_sac_hard_b_025.json │ │ ├── env_config_for_sac_hard_b_05.json │ │ ├── env_config_for_sac_hard_b_1.json │ │ ├── env_config_for_sac_hard_b_2.json │ │ ├── env_config_for_sac_medium2_b_025.json │ │ ├── env_config_for_sac_medium2_b_05.json │ │ ├── env_config_for_sac_medium2_b_2.json │ │ ├── env_config_for_sac_medium2_sparse.json │ │ ├── env_config_for_sac_medium_b_0125.json │ │ ├── env_config_for_sac_medium_b_025.json │ │ ├── env_config_for_sac_medium_b_05.json │ │ ├── env_config_for_sac_medium_b_05_angle_only.json │ │ ├── env_config_for_sac_medium_b_1.json │ │ ├── env_config_for_sac_medium_b_1_angle_only.json │ │ ├── env_config_for_sac_medium_b_2.json │ │ ├── env_config_for_sac_medium_b_4.json │ │ ├── env_config_for_sac_relative_hard_b_0125.json │ │ ├── env_config_for_sac_relative_hard_b_025.json │ │ ├── env_config_for_sac_relative_hard_b_05.json │ │ ├── env_config_for_sac_relative_hard_b_1.json │ │ ├── env_config_for_sac_relative_hard_b_2.json │ │ ├── env_config_for_sac_relative_hard_b_4.json │ │ └── env_hard_config_for_sac.json │ └── reward_norm │ │ ├── env_config_end2end_MR_medium_b_05.json │ │ ├── env_config_guidance_MR_medium_b_05.json │ │ └── env_config_guidance_MR_medium_mu_chi_b_1.json └── train │ ├── D2D │ ├── F2F │ │ ├── hard │ │ │ └── sac_config_10hz_128_128_1.json │ │ ├── medium │ │ │ ├── b_1 │ │ │ │ ├── skip_3 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── skip_5 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── two_stage_skip_3_skip_1 │ │ │ │ │ ├── 2e6 │ │ │ │ │ │ ├── buffer_size_1e6 │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ │ ├── buffer_size_1e6_warmup300 │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ │ ├── buffer_size_5e5 │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_5.json │ │ │ │ │ │ └── warmup_epochs_100 │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── two_stage_skip_3_skip_3 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── two_stage_skip_5_skip_1 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ └── two_stage_skip_5_skip_5 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── b_1_copy │ │ │ │ └── skip_3 │ │ │ │ └── sac_config_10hz_128_128_1.json │ │ └── relative_hard │ │ │ └── b_05 │ │ │ ├── skip10 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── skip_3 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── skip_5 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── three_stage_skip10_skip_5_skip1 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_skip_3_skip_1 │ │ │ ├── cut_3_buffer │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── new_train_sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ ├── sac_config_10hz_128_128_5.json │ │ │ └── test_relabel_sac_config_10hz_128_128_1.json │ │ │ └── two_stage_skip_5_skip_1 │ │ │ ├── cut_5_buffer │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ ├── VVC │ │ └── medium │ │ │ ├── her │ │ │ ├── b_0125 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_025 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_05 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_1 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_2 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_4 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_2_b_0125 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_2_b_025 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_2_b_05 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── two_stage_b_2_b_1 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── sac │ │ │ ├── E2D_medium_b_05 │ │ │ ├── 1e6 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── E2D_medium_b_05_aug4 │ │ │ ├── 1e6 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── buffer_size1e6 │ │ │ │ └── num_transition2e5 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ ├── sac_config_10hz_128_128_5.json │ │ │ └── warmup_epoch300 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_1_test.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── E2D_medium_b_1 │ │ │ ├── 1e6 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_10.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ ├── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_6.json │ │ │ ├── sac_config_10hz_128_128_7.json │ │ │ ├── sac_config_10hz_128_128_8.json │ │ │ └── sac_config_10hz_128_128_9.json │ │ │ ├── E2D_medium_b_1_aug4 │ │ │ ├── 1e6 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── buffer_size1e6 │ │ │ │ ├── num_transition1e6 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── num_transition1e6_warmup_300 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── num_transition2e5 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ └── num_transition2e5_warmup_300 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_0125 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_1 │ │ │ ├── 2e6 │ │ │ │ ├── buffer_size1e6 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ └── one_stage_buffer_szie1e6 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ ├── sac_config_10hz_128_128_5.json │ │ │ └── test_sac_config_10hz_128_128_5.json │ │ │ ├── b_2 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_4 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── baseline │ │ │ ├── two_stage_b_0125_b_0125 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_025_b_025 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_05_b_05 │ │ │ │ ├── 2e6 │ │ │ │ │ ├── buffer_size1e6 │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_1_b_1 │ │ │ │ ├── 2e6 │ │ │ │ │ ├── buffer_size1e6 │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ ├── buffer_size1e6_warmup_300 │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── gamma │ │ │ │ │ ├── buffer_size1e6 │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── two_stage_b_2_b_2 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_05_b_0125 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_05_b_025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_05_b_1 │ │ │ ├── buffer_size1e6 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── buffer_size1e6_warmup300 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_1_b_0125 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_1_b_025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_1_b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_2_b_0125 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_2_b_025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── two_stage_b_2_b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── two_stage_b_2_b_1 │ │ │ ├── 1e6 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ ├── easy_sac │ │ ├── b_05 │ │ │ ├── buffer_size1e6 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── b_1 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── baseline │ │ │ ├── b_05 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_1 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── evaluate_medium │ │ │ │ ├── b_05 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ └── b_1 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ └── two_stage_easy_b_2_b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ ├── goal_sapce │ │ ├── easy_to_medium │ │ │ ├── b_05 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_1 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── evaluate_medium │ │ │ │ ├── b_05 │ │ │ │ ├── 2e6 │ │ │ │ │ ├── easy2medium_buffer_size_1e6 │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ ├── easy2medium_buffer_size_1e6_warmup_300 │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ ├── easy2medium_buffer_size_2e6 │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ ├── sac_config_10hz_128_128_5.json │ │ │ │ │ └── warmup_epochs_100 │ │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ └── b_1 │ │ │ │ ├── 2e6 │ │ │ │ ├── easy2medium_buffer_size_1e6 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ └── easy2medium_buffer_size_1e6_warmup300 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_to_medium_to_hard │ │ │ └── evaluate_medium_hard_on_hard │ │ │ │ └── b_1 │ │ │ │ └── 3e6 │ │ │ │ └── buffer_size1e6 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ └── easy_to_medium_to_medium2 │ │ │ └── evaluate_medium_medium2_on_medium2 │ │ │ └── b_1 │ │ │ └── 3e6 │ │ │ ├── buffer_size1e6 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── buffer_size1e6_warmup300 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ ├── sac_config_10hz_128_128_5.json │ │ │ └── sac_config_10hz_128_128_5test.json │ ├── hard_sac │ │ ├── b_0125 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── b_025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── b_1 │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── b_2 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── buffersize_1e5_b_2_b025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── buffersize_4e5_b_2_b025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── hard_sac_b_2_b0125 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── random_select_E2D_hard │ │ │ ├── E2D_hard_025 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── E2D_hard_05 │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── two_satge_hard_sac_b_2_b05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── two_stage_hard_b2_b025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ └── two_stage_hard_b2_b05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ ├── pand_reach_dense │ │ ├── distance_threshold_0_005 │ │ │ └── her │ │ │ │ ├── b_05 │ │ │ │ └── sac_seed_1.json │ │ │ │ ├── b_1 │ │ │ │ └── sac_seed_1.json │ │ │ │ ├── b_2 │ │ │ │ └── sac_seed_1.json │ │ │ │ └── two_stage_0.01_b_2_b_05 │ │ │ │ └── sac_seed_1.json │ │ ├── distance_threshold_0_01 │ │ │ └── sac │ │ │ │ ├── b_05 │ │ │ │ └── sac_seed_1.json │ │ │ │ ├── b_1 │ │ │ │ └── sac_seed_1.json │ │ │ │ ├── b_2 │ │ │ │ └── sac_seed_1.json │ │ │ │ └── two_stage_0.01_b_2_b_05 │ │ │ │ ├── another_test.json │ │ │ │ ├── flycraft_test_sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_seed_1.json │ │ │ │ └── test_sac_seed_1.json │ │ ├── goal_range_08 │ │ │ └── distance_0_01_change_z_scope │ │ │ │ ├── dense │ │ │ │ └── sac │ │ │ │ │ ├── D2D │ │ │ │ │ ├── b_0125 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── b_025 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── b_05 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── b_1 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── b_2 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── two_stage_b2_b0125 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── two_stage_b2_b025 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── two_stage_b2_b05 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ └── two_stage_b2_b1 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── n_substeps_1 │ │ │ │ │ └── b_1 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── n_substeps_3 │ │ │ │ │ └── b_1 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── n_substeps_5 │ │ │ │ │ └── b_1 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ ├── two_stage_n_substeps_3_to_n_substeps_1 │ │ │ │ │ └── b_1 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ ├── sac_seed_5.json │ │ │ │ │ │ └── second_1e6 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ │ └── two_stage_n_substeps_5_to_n_substeps_1 │ │ │ │ │ └── b_1 │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ └── sac_seed_5.json │ │ │ │ ├── n_substeps_10 │ │ │ │ └── b_05 │ │ │ │ │ └── sac_seed_1.json │ │ │ │ ├── n_substeps_20 │ │ │ │ └── b_05 │ │ │ │ │ └── sac_seed_1.json │ │ │ │ └── sparse │ │ │ │ ├── her │ │ │ │ ├── n_substeps_1 │ │ │ │ │ └── b_05 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ ├── n_substeps_10 │ │ │ │ │ └── b_05 │ │ │ │ │ │ └── sac_seed_1.json │ │ │ │ ├── n_substeps_20 │ │ │ │ │ └── b_05 │ │ │ │ │ │ └── sac_seed_1.json │ │ │ │ ├── n_substeps_3 │ │ │ │ │ └── b_05 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ ├── n_substeps_5 │ │ │ │ │ └── b_05 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ ├── two_stage_n_substeps_3_to_n_substeps_1 │ │ │ │ │ └── b_05 │ │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ │ └── sac_seed_5.json │ │ │ │ └── two_stage_n_substeps_5_to_n_substeps_1 │ │ │ │ │ └── b_05 │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ └── sac_seed_5.json │ │ │ │ └── sac │ │ │ │ ├── n_substeps_1 │ │ │ │ └── b_1 │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ └── sac_seed_5.json │ │ │ │ ├── n_substeps_3 │ │ │ │ └── b_1 │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ └── sac_seed_5.json │ │ │ │ ├── n_substeps_5 │ │ │ │ └── b_1 │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ └── sac_seed_5.json │ │ │ │ ├── two_stage_n_substeps_3_to_n_substeps_1 │ │ │ │ └── b_1 │ │ │ │ │ ├── sac_seed_1.json │ │ │ │ │ ├── sac_seed_2.json │ │ │ │ │ ├── sac_seed_3.json │ │ │ │ │ ├── sac_seed_4.json │ │ │ │ │ └── sac_seed_5.json │ │ │ │ └── two_stage_n_substeps_5_to_n_substeps_1 │ │ │ │ └── b_1 │ │ │ │ ├── sac_seed_1.json │ │ │ │ ├── sac_seed_2.json │ │ │ │ ├── sac_seed_3.json │ │ │ │ ├── sac_seed_4.json │ │ │ │ └── sac_seed_5.json │ │ └── goal_range_08_step_80 │ │ │ ├── distance_threshold_0_005 │ │ │ ├── change_z_scope │ │ │ │ ├── b_05 │ │ │ │ │ └── sac_seed_1.json │ │ │ │ ├── b_1 │ │ │ │ │ └── sac_seed_1.json │ │ │ │ └── b_2 │ │ │ │ │ └── sac_seed_1.json │ │ │ ├── change_z_scope_n_substeps_10 │ │ │ │ ├── b_05 │ │ │ │ │ └── sac_seed_1.json │ │ │ │ ├── b_1 │ │ │ │ │ └── sac_seed_1.json │ │ │ │ └── b_2 │ │ │ │ │ └── sac_seed_1.json │ │ │ └── change_z_scope_n_substeps_5 │ │ │ │ ├── b_05 │ │ │ │ └── sac_seed_1.json │ │ │ │ ├── b_1 │ │ │ │ └── sac_seed_1.json │ │ │ │ └── b_2 │ │ │ │ └── sac_seed_1.json │ │ │ └── distance_threshold_0_01 │ │ │ └── her │ │ │ ├── b_05 │ │ │ └── sac_seed_1.json │ │ │ ├── b_1 │ │ │ └── sac_seed_1.json │ │ │ └── b_2 │ │ │ └── sac_seed_1.json │ ├── ppo │ │ └── easy_b_2 │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_2_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_2_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_2_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_2_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_b_2_5.json │ ├── relative_sac │ │ ├── D2S │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── E2D_relative_hard_b_025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── b_0125 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── b_025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── b_1 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── b_4 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── buffer_size1e5 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── buffer_size4e5 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── three_stage_relative_hard_b_2_b_05_b_025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── two_stage_relative_hard_b_2_b_0125 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── two_stage_relative_hard_b_2_b_025 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ └── two_stage_relative_hard_b_2_b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ ├── reward_devide │ │ └── medium │ │ │ ├── b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_05_only │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_1 │ │ │ ├── 2e6 │ │ │ │ ├── buffer_size1e6_warmup300 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── buffer_szie1e6 │ │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ ├── b_1_only │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── baseline │ │ │ ├── b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ │ └── b_1 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ └── sac │ │ ├── medium │ │ └── b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── medium2 │ │ ├── b_05 │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ └── from_demos │ │ │ ├── sac_config_10hz_128_128_1.json │ │ │ ├── sac_config_10hz_128_128_2.json │ │ │ ├── sac_config_10hz_128_128_3.json │ │ │ ├── sac_config_10hz_128_128_4.json │ │ │ └── sac_config_10hz_128_128_5.json │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ ├── IRPO │ ├── end_to_end_mode │ │ └── iter_1 │ │ │ ├── MR │ │ │ ├── lambda_1e-1 │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-1_seed_1.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-1_seed_2.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-1_seed_3.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-1_seed_4.json │ │ │ │ └── ppo_bc_config_10hz_128_128_hard_lambda_1e-1_seed_5.json │ │ │ ├── lambda_1e-2 │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-2_seed_1.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-2_seed_2.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-2_seed_3.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-2_seed_4.json │ │ │ │ └── ppo_bc_config_10hz_128_128_hard_lambda_1e-2_seed_5.json │ │ │ ├── lambda_1e-3 │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_1.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_2.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_3.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_4.json │ │ │ │ └── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_5.json │ │ │ ├── lambda_1e-4 │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-4_seed_1.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-4_seed_2.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-4_seed_3.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-4_seed_4.json │ │ │ │ └── ppo_bc_config_10hz_128_128_hard_lambda_1e-4_seed_5.json │ │ │ └── lambda_1e0 │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e0_seed_1.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e0_seed_2.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e0_seed_3.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e0_seed_4.json │ │ │ │ └── ppo_bc_config_10hz_128_128_hard_lambda_1e0_seed_5.json │ │ │ └── NMR │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_4.json │ │ │ └── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_5.json │ ├── guidance_law_mode │ │ ├── iter_1 │ │ │ └── MR │ │ │ │ └── lambda_1e-3 │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_1.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_2.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_3.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_4.json │ │ │ │ └── ppo_bc_config_10hz_128_128_hard_lambda_1e-3_seed_5.json │ │ ├── iter_2 │ │ │ └── MR │ │ │ │ └── lambda_1e-1 │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-1_seed_1.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-1_seed_2.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-1_seed_3.json │ │ │ │ ├── ppo_bc_config_10hz_128_128_hard_lambda_1e-1_seed_4.json │ │ │ │ └── ppo_bc_config_10hz_128_128_hard_lambda_1e-1_seed_5.json │ │ ├── iter_3 │ │ │ └── MR │ │ │ │ └── lambda_1e-1 │ │ │ │ ├── ppo_bc_config_10hz_256_256_128_128_64_hard_lambda_1e-1_seed_1.json │ │ │ │ ├── ppo_bc_config_10hz_256_256_128_128_64_hard_lambda_1e-1_seed_2.json │ │ │ │ ├── ppo_bc_config_10hz_256_256_128_128_64_hard_lambda_1e-1_seed_3.json │ │ │ │ ├── ppo_bc_config_10hz_256_256_128_128_64_hard_lambda_1e-1_seed_4.json │ │ │ │ └── ppo_bc_config_10hz_256_256_128_128_64_hard_lambda_1e-1_seed_5.json │ │ └── iter_4 │ │ │ └── MR │ │ │ └── lambda_1e-1 │ │ │ ├── ppo_bc_config_10hz_256_256_128_128_64_hard_lambda_1e-1_seed_1.json │ │ │ ├── ppo_bc_config_10hz_256_256_128_128_64_hard_lambda_1e-1_seed_2.json │ │ │ ├── ppo_bc_config_10hz_256_256_128_128_64_hard_lambda_1e-1_seed_3.json │ │ │ ├── ppo_bc_config_10hz_256_256_128_128_64_hard_lambda_1e-1_seed_4.json │ │ │ └── ppo_bc_config_10hz_256_256_128_128_64_hard_lambda_1e-1_seed_5.json │ ├── iter4 │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ └── ppo │ │ └── easy │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ ├── VVCGym │ ├── ppo │ │ ├── easy │ │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ │ ├── easy_angle_0375_v_0625 │ │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ │ ├── easy_angle_0625_v_0375 │ │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ │ ├── easy_angle_075_v_025 │ │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ │ ├── easy_angle_0875_v_0125 │ │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ │ ├── easy_b_025 │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_025_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_025_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_025_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_025_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_b_025_5.json │ │ ├── easy_b_1 │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_1_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_1_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_1_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_1_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_b_1_5.json │ │ ├── easy_b_2 │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_2_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_2_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_2_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_2_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_b_2_5.json │ │ ├── easy_b_4 │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_4_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_4_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_4_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_b_4_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_b_4_5.json │ │ ├── easy_big_punishment │ │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ │ ├── easy_end_to_end │ │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ │ ├── easy_medium_punishment │ │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ │ ├── easy_no_terminations │ │ │ ├── ppo_bc_config_10hz_128_128_easy_no_terminations_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_no_terminations_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_no_terminations_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_no_terminations_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_no_terminations_5.json │ │ ├── easy_no_terminations_b_1 │ │ │ ├── ppo_bc_config_10hz_128_128_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_4.json │ │ │ └── ppo_bc_config_10hz_128_128_5.json │ │ ├── easy_small_punishment │ │ │ ├── ppo_bc_config_10hz_128_128_easy_1.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_2.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_3.json │ │ │ ├── ppo_bc_config_10hz_128_128_easy_4.json │ │ │ └── ppo_bc_config_10hz_128_128_easy_5.json │ │ ├── medium │ │ │ ├── ppo_config_10hz_128_128_1.json │ │ │ ├── ppo_config_10hz_128_128_10.json │ │ │ ├── ppo_config_10hz_128_128_2.json │ │ │ ├── ppo_config_10hz_128_128_3.json │ │ │ ├── ppo_config_10hz_128_128_4.json │ │ │ ├── ppo_config_10hz_128_128_5.json │ │ │ ├── ppo_config_10hz_128_128_6.json │ │ │ ├── ppo_config_10hz_128_128_7.json │ │ │ ├── ppo_config_10hz_128_128_8.json │ │ │ ├── ppo_config_10hz_128_128_9.json │ │ │ └── ppo_config_10hz_128_128_test_time.json │ │ └── single_goal │ │ │ └── 200_20_30 │ │ │ ├── 128_128_1.json │ │ │ ├── 128_128_2.json │ │ │ ├── 128_128_3.json │ │ │ ├── 128_128_4.json │ │ │ └── 128_128_5.json │ ├── ppo_fixed_target │ │ └── ppo_rl_rl_config_10hz_128_128_target_100_-25_75.json │ └── sac │ │ ├── easy_her │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ ├── sac_config_10hz_128_128_5.json │ │ └── sac_config_10hz_128_128_6.json │ │ ├── easy_her_end_to_end_mode │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_framestack_sparse_negative_non_markov_reward_persist_1_sec │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_no_terminations_b_1 │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_non_markov_reward_persist_1_sec │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_non_markov_reward_persist_2_sec │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_non_markov_reward_persist_3_sec │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_sparse_negative_non_markov_reward_persist_1_sec │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_sparse_negative_non_markov_reward_persist_2_sec │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_sparse_negative_non_markov_reward_persist_3_sec │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_sparse_negative_reward │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_sparse_non_markov_reward │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_her_sparse_reward │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_without_her │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_without_her_no_terminations_b_05 │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_without_her_no_terminations_b_1 │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_without_her_sparse_negative_non_markov_reward_persist_1_sec │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── easy_without_her_sparse_negative_reward │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── hard_her │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── hard_her_framestack_sparse_negative_non_markov_reward_persist_1_sec │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── hard_without_her │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── medium_her │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_10.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ ├── sac_config_10hz_128_128_5.json │ │ ├── sac_config_10hz_128_128_6.json │ │ ├── sac_config_10hz_128_128_7.json │ │ ├── sac_config_10hz_128_128_8.json │ │ ├── sac_config_10hz_128_128_9.json │ │ └── sac_config_10hz_128_128_test_time.json │ │ └── medium_without_her │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_10.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ ├── sac_config_10hz_128_128_5.json │ │ ├── sac_config_10hz_128_128_6.json │ │ ├── sac_config_10hz_128_128_7.json │ │ ├── sac_config_10hz_128_128_8.json │ │ ├── sac_config_10hz_128_128_9.json │ │ └── sac_config_10hz_128_128_test_time.json │ ├── ladderrl │ └── baseline │ │ └── easy │ │ └── sac │ │ └── b_1 │ │ └── primacy_bias_1e6_buffer_1e6 │ │ ├── gradient_step1 │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ ├── gradient_step32 │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ │ └── gradient_step9 │ │ ├── sac_config_10hz_128_128_1.json │ │ ├── sac_config_10hz_128_128_2.json │ │ ├── sac_config_10hz_128_128_3.json │ │ ├── sac_config_10hz_128_128_4.json │ │ └── sac_config_10hz_128_128_5.json │ ├── msr │ ├── baseline │ │ └── ppo │ │ │ └── medium │ │ │ ├── step_freq_10hz │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── step_freq_10hz_frame_skip_5 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ └── step_freq_2hz │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ ├── bc │ │ └── hard │ │ │ ├── epsilon_0_1_reg_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_001 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_01 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_01_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_001 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_01 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_001 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_01 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── iter_1_aug │ │ │ ├── epsilon_0_1_reg_0_0001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ └── epsilon_0_1_reg_0_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── iter_2_aug │ │ │ ├── epsilon_0_1_reg_0_0001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ └── epsilon_0_1_reg_0_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── iter_3_aug │ │ │ ├── epsilon_0_1_reg_0_0001_N_16 │ │ │ │ ├── 256_256_128_128_64_seed_1.json │ │ │ │ ├── 256_256_128_128_64_seed_2.json │ │ │ │ ├── 256_256_128_128_64_seed_3.json │ │ │ │ ├── 256_256_128_128_64_seed_4.json │ │ │ │ └── 256_256_128_128_64_seed_5.json │ │ │ └── epsilon_0_1_reg_0_N_16 │ │ │ │ ├── 256_256_128_128_64_seed_1.json │ │ │ │ ├── 256_256_128_128_64_seed_2.json │ │ │ │ ├── 256_256_128_128_64_seed_3.json │ │ │ │ ├── 256_256_128_128_64_seed_4.json │ │ │ │ └── 256_256_128_128_64_seed_5.json │ │ │ └── iter_4_aug │ │ │ ├── epsilon_0_1_reg_0_0001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ ├── 128_128_seed_5.json │ │ │ ├── 256_256_128_128_64_seed_1.json │ │ │ ├── 256_256_128_128_64_seed_2.json │ │ │ ├── 256_256_128_128_64_seed_3.json │ │ │ ├── 256_256_128_128_64_seed_4.json │ │ │ └── 256_256_128_128_64_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_01_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ ├── 128_128_seed_5.json │ │ │ ├── 256_256_128_128_64_seed_1.json │ │ │ ├── 256_256_128_128_64_seed_2.json │ │ │ ├── 256_256_128_128_64_seed_3.json │ │ │ ├── 256_256_128_128_64_seed_4.json │ │ │ └── 256_256_128_128_64_seed_5.json │ │ │ ├── epsilon_0_1_reg_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_01_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_01_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ └── epsilon_1_reg_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ ├── her │ │ ├── medium │ │ │ ├── beta_0 │ │ │ │ ├── epsilon_0_01_reg_0_0001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_0_01_reg_0_001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_0_01_reg_0_01_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_0_01_reg_0_1_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_0_01_reg_1_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_0_1_reg_0_0001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_0_1_reg_0_001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_10.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ ├── 128_128_seed_5.json │ │ │ │ │ ├── 128_128_seed_6.json │ │ │ │ │ ├── 128_128_seed_7.json │ │ │ │ │ ├── 128_128_seed_8.json │ │ │ │ │ ├── 128_128_seed_9.json │ │ │ │ │ └── 128_128_test_time.json │ │ │ │ ├── epsilon_0_1_reg_0_01_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_0_1_reg_0_1_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_0_1_reg_0_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_0_1_reg_1_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_1_reg_0_0001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_1_reg_0_001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_1_reg_0_01_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ ├── epsilon_1_reg_0_1_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ └── epsilon_1_reg_1_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ └── beta_0_1 │ │ │ │ ├── epsilon_0_1_reg_0_0001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ └── medium2 │ │ │ ├── epsilon_0_1_reg_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_0001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_001 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_001_N_64 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_01 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_01_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_001 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_01 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_01_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_001 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_01 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_01_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_1 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ └── epsilon_1_reg_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ ├── ppo │ │ ├── medium │ │ │ ├── beta_0_0001 │ │ │ │ ├── epsilon_0_1_reg_0_001 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── beta_0_001 │ │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── beta_0_01 │ │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── beta_0_1 │ │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_01_reg_0_0001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_01_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_01_reg_0_01_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_01_reg_0_1_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_01_reg_1_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_0001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_001 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_10.json │ │ │ │ ├── 128_128_seed_11.json │ │ │ │ ├── 128_128_seed_12.json │ │ │ │ ├── 128_128_seed_13.json │ │ │ │ ├── 128_128_seed_14.json │ │ │ │ ├── 128_128_seed_15.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ ├── 128_128_seed_5.json │ │ │ │ ├── 128_128_seed_6.json │ │ │ │ ├── 128_128_seed_7.json │ │ │ │ ├── 128_128_seed_8.json │ │ │ │ ├── 128_128_seed_9.json │ │ │ │ └── 128_128_test_time.json │ │ │ ├── epsilon_0_1_reg_0_01 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_01_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_1_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_1_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_001 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_01 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_01_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_1_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_1_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_0001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_001 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_01 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_01_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_1_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ └── epsilon_1_reg_1_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ ├── medium2 │ │ │ ├── epsilon_0_1_reg_0 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_001 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_01 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_001 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_01 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_0_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_5_reg_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_001 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_01 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ └── epsilon_1_reg_1 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ └── single_goal │ │ │ └── 200_20_30 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ ├── sac │ │ └── medium │ │ │ ├── beta_0 │ │ │ ├── epsilon_0_1_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ └── epsilon_0_1_reg_0_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── beta_0_0001 │ │ │ ├── epsilon_0_1_reg_0_0001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── beta_0_001 │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── beta_0_01 │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── beta_0_1 │ │ │ ├── epsilon_0_1_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_10.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ ├── 128_128_seed_5.json │ │ │ │ ├── 128_128_seed_6.json │ │ │ │ ├── 128_128_seed_7.json │ │ │ │ ├── 128_128_seed_8.json │ │ │ │ ├── 128_128_seed_9.json │ │ │ │ └── 128_128_test_time.json │ │ │ └── epsilon_0_1_reg_0_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_01_reg_0_0001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_01_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_01_reg_0_01_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_01_reg_0_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_01_reg_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_0001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_01_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_0_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_0_1_reg_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_0001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_01_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── epsilon_1_reg_0_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ └── epsilon_1_reg_1_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ ├── smooth_goal_ppo_max_random │ │ └── medium │ │ │ ├── step_freq_10hz │ │ │ ├── beta_0 │ │ │ │ ├── epsilon_0_1_reg_0_001_N_16 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ │ └── epsilon_0_1_reg_0_001_N_64_gamma_0_98 │ │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ │ └── 128_128_seed_5.json │ │ │ └── beta_0_1 │ │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ ├── step_freq_10hz_frame_skip_5 │ │ │ └── beta_0 │ │ │ │ ├── epsilon_0_1_reg_0_001_N_16 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ │ └── epsilon_0_1_reg_0_001_N_64 │ │ │ │ ├── 128_128_seed_1.json │ │ │ │ ├── 128_128_seed_2.json │ │ │ │ ├── 128_128_seed_3.json │ │ │ │ ├── 128_128_seed_4.json │ │ │ │ └── 128_128_seed_5.json │ │ │ └── step_freq_2hz │ │ │ └── beta_0 │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ ├── smooth_goal_ppo_pi │ │ └── medium │ │ │ └── epsilon_0_1_reg_0_001_N_16 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ ├── smooth_goal_ppo_pi_and_v │ │ └── medium │ │ │ └── epsilon_0_1_reg_0_001_beta_0_N_16 │ │ │ ├── v_reg_0_0001_v_beta_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── v_reg_0_001_v_beta_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── v_reg_0_01_v_beta_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── v_reg_0_1_v_beta_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── v_reg_0_v_beta_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── v_reg_100_v_beta_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ ├── v_reg_10_v_beta_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ │ └── v_reg_1_v_beta_0 │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ └── smooth_goal_ppo_v │ │ └── medium │ │ ├── v_reg_0_1_v_beta_0 │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ └── 128_128_seed_5.json │ │ ├── v_reg_100_v_beta_0 │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ └── 128_128_seed_5.json │ │ └── v_reg_10_v_beta_0 │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ └── 128_128_seed_5.json │ └── reward_norm │ ├── her │ ├── medium_end_to_end │ │ └── baseline │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ ├── medium_guidance │ │ ├── baseline │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ └── reward_scaling_cluster │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ └── medium_mu_chi_b_1_guidance │ │ ├── baseline │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ └── 128_128_seed_5.json │ │ └── reward_scaling_cluster │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ └── 128_128_seed_5.json │ ├── ppo │ ├── medium_end_to_end │ │ └── baseline │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ ├── medium_guidance │ │ ├── baseline │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ ├── reward_scaling_cluster │ │ │ ├── 128_128_seed_1.json │ │ │ ├── 128_128_seed_2.json │ │ │ ├── 128_128_seed_3.json │ │ │ ├── 128_128_seed_4.json │ │ │ └── 128_128_seed_5.json │ │ └── reward_scaling_minmax │ │ │ └── 128_128_seed_1.json │ └── medium_mu_chi_b_1_guidance │ │ ├── baseline │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ └── 128_128_seed_5.json │ │ ├── reward_scaling_cluster │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ └── 128_128_seed_5.json │ │ └── reward_scaling_minmax │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ ├── 128_128_seed_5.json │ │ └── rl_bc_evaluation_res │ │ ├── iter_1_seed_1.csv │ │ ├── iter_1_seed_2.csv │ │ ├── iter_1_seed_3.csv │ │ ├── iter_1_seed_4.csv │ │ ├── iter_1_seed_5.csv │ │ ├── iter_4_seed_1.csv │ │ ├── iter_4_seed_2.csv │ │ ├── iter_4_seed_3.csv │ │ ├── iter_4_seed_4.csv │ │ └── iter_4_seed_5.csv │ └── sac │ ├── medium_end_to_end │ └── baseline │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ └── 128_128_seed_5.json │ ├── medium_guidance │ ├── baseline │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ └── 128_128_seed_5.json │ └── reward_scaling_cluster │ │ ├── 128_128_seed_1.json │ │ ├── 128_128_seed_2.json │ │ ├── 128_128_seed_3.json │ │ ├── 128_128_seed_4.json │ │ └── 128_128_seed_5.json │ └── medium_mu_chi_b_1_guidance │ ├── baseline │ ├── 128_128_seed_1.json │ ├── 128_128_seed_2.json │ ├── 128_128_seed_3.json │ ├── 128_128_seed_4.json │ └── 128_128_seed_5.json │ └── reward_scaling_cluster │ ├── 128_128_seed_1.json │ ├── 128_128_seed_2.json │ ├── 128_128_seed_3.json │ ├── 128_128_seed_4.json │ └── 128_128_seed_5.json ├── demonstrations ├── rollout_trajs │ ├── __init__.py │ ├── rollout_by_pid.py │ ├── rollout_by_pid_parallel.py │ └── rollout_by_policy_and_update_demostrations.py └── utils │ ├── augment_trajs.py │ ├── label_transitions_with_rewards.py │ ├── load_dataset.py │ ├── rename_files.py │ └── smoothness │ ├── __init__.py │ ├── fourier.py │ ├── smoothness_measure.py │ ├── test_fft.ipynb │ ├── test_fft2.ipynb │ └── test_fourier.ipynb ├── evaluation ├── achievable_goals_rl_bc_10_90_170.ipynb ├── compute_distance.ipynb ├── evaluate_with_distance.py ├── evaluate_with_distance_dict.py ├── rollout.py ├── test │ └── test_rollout.py └── test_vvc_relabel_reward.py ├── requirements.txt ├── tests ├── check_env.py ├── comparison_on_diff_engines │ ├── Ant_mujoco_64_rolloutworkers.csv │ ├── HalfCheetah_Mujoco_64_rolloutworkers.csv │ ├── Hammer_64_rolloutworkers.csv │ ├── Reach_Panda_64_rolloutworkers.csv │ └── calc_fps.ipynb ├── ray_example_on_acrobot.py ├── ray_example_on_flycraft.py ├── results_on_ray │ ├── PPO_Acrobot-v1_128_rollout_workers_2e5_steps │ │ ├── events.out.tfevents.1725006919.ucav │ │ ├── params.json │ │ ├── params.pkl │ │ ├── progress.csv │ │ └── result.json │ ├── PPO_Acrobot-v1_1_rollout_worker_2e5_steps │ │ ├── events.out.tfevents.1724992561.ucav │ │ ├── params.json │ │ ├── params.pkl │ │ ├── progress.csv │ │ └── result.json │ ├── PPO_FlyCraft-v1_128_rollout_workers_2e5_steps │ │ ├── events.out.tfevents.1724988729.ucav │ │ ├── params.json │ │ ├── params.pkl │ │ ├── progress.csv │ │ └── result.json │ ├── PPO_FlyCraft-v1_1_rollout_worker_2e5_steps │ │ ├── events.out.tfevents.1724989458.ucav │ │ ├── params.json │ │ ├── params.pkl │ │ ├── progress.csv │ │ └── result.json │ ├── calc.ipynb │ └── ray_cluster_configuration.png ├── test_env_wrappers.py ├── test_logs │ ├── FWG_environment.yaml │ ├── FWG_train_log.txt │ └── flycraft_train_log.csv ├── test_vec_env.py └── test_vec_env_framestack.py ├── tmp.sh ├── train_scripts ├── IRPO │ ├── README.md │ ├── evaluate │ │ ├── evaluate_policy_by_success_rate.py │ │ ├── evaluate_policy_by_success_rate_on_specific_env.py │ │ ├── rollout_multiple_trajectories_parallel_for_checking_precision_termination_smooth.py │ │ ├── rollout_one_trajectory.py │ │ └── test.ipynb │ ├── shell_scripts │ │ ├── evaluate │ │ │ └── evaluate_bc.sh │ │ └── train │ │ │ └── lambda.sh │ ├── train_with_bc_ppo.py │ ├── train_with_rl_bc_ppo.py │ ├── train_with_rl_ppo.py │ └── train_with_rl_rl_ppo.py ├── VVCGym │ ├── README.md │ ├── shell_scripts │ │ ├── her.sh │ │ └── ppo.sh │ ├── test │ │ ├── test_bc_with_dict_obs.py │ │ └── test_policy.py │ └── train │ │ ├── train_with_rl_ppo.py │ │ ├── train_with_rl_sac_her.py │ │ └── train_with_rl_sac_her_framestack.py ├── disc │ └── shell_scripts │ │ └── train │ │ ├── train_her_medium.sh │ │ ├── train_ppo_medium.sh │ │ └── train_sac.sh ├── ladderrl │ ├── evaluate │ │ ├── evaluate.py │ │ └── process.ipynb │ ├── shells │ │ ├── F2F │ │ │ └── run_F2F_single_stage.sh │ │ ├── VVC_SAC_D2D │ │ │ ├── buffer_size1e6 │ │ │ │ └── run_buffersize1e6.sh │ │ │ ├── run_goal_space.sh │ │ │ ├── run_medium_D2D.sh │ │ │ └── run_medium_HER_D2D.sh │ │ ├── ladderrl │ │ │ ├── back │ │ │ │ └── run_shell.sh │ │ │ └── run_shell.sh │ │ ├── reach │ │ │ └── run_reach_distance0005.sh │ │ ├── run_medium2_single_stage.sh │ │ └── run_medium_single_stage.sh │ ├── train_with_rl_sac_her_multi_stages.py │ ├── train_with_rl_sac_her_multi_stages_info_buferr.py │ ├── train_with_rl_sac_her_multi_stages_info_buferrs_change_size.py │ ├── train_with_rl_sac_her_multi_stages_panda_reach.py │ ├── trys │ │ ├── a.npy │ │ ├── check_obser.py │ │ ├── check_reach_goal_range.py │ │ ├── check_reach_replay.py │ │ ├── check_vvc_replay.py │ │ ├── cut_buffer.py │ │ ├── episode.py │ │ ├── eval_policy_flycraft.ipynb │ │ ├── evaluate_policy_flycraft.py │ │ ├── evaluate_policy_reach.py │ │ ├── test_load_np.ipynb │ │ ├── train_with_rl_sac_her_multi_stages_cut_buffer.py │ │ ├── train_with_rl_sac_her_multi_stages_info_buferrs_change_size.py │ │ ├── train_with_rl_sac_her_multi_stages_try_fast.py │ │ └── utilze_generate_buffer_data.ipynb │ └── utils │ │ ├── InfoDictReplayBuffer.py │ │ ├── get_vec_env.py │ │ ├── load_data_from_csv.py │ │ └── wrappers.py ├── msr │ ├── README.md │ ├── algorithms │ │ ├── back │ │ │ ├── smooth_goal_sac.py │ │ │ └── test_smooth_goal_sac.py │ │ ├── smooth_goal_bc.py │ │ ├── smooth_goal_ppo.py │ │ ├── smooth_goal_ppo_max_random.py │ │ ├── smooth_goal_sac.py │ │ ├── smooth_goal_sac_detach.py │ │ └── test │ │ │ ├── test_smooth_goal_ppo.py │ │ │ ├── test_smooth_goal_sac.py │ │ │ └── try.ipynb │ ├── attackers │ │ ├── ppo │ │ │ ├── base_attackers_ppo.py │ │ │ ├── gradient_ascent_attackers_ppo.py │ │ │ └── random_attackers_ppo.py │ │ ├── sac │ │ │ ├── base_attackers_sac.py │ │ │ ├── gradient_ascent_attackers_sac.py │ │ │ └── random_attackers_sac.py │ │ └── test │ │ │ ├── test_backward.ipynb │ │ │ ├── test_gradient_ascent_attacker_ppo.py │ │ │ ├── test_gradient_ascent_attacker_sac.py │ │ │ ├── test_pytorch.ipynb │ │ │ ├── test_pytorch_detach.ipynb │ │ │ ├── test_random_attacker_ppo.py │ │ │ └── test_random_attacker_sac.py │ ├── back │ │ └── evaluate_discontinuity.py │ ├── evaluate │ │ ├── evaluate_policy_by_success_rate.py │ │ ├── evaluate_policy_by_v_func_adj_diff.py │ │ ├── evaluate_ppo_with_average_adjacent_KL.py │ │ ├── evaluate_ppo_with_gradient_ascent_attacker.py │ │ ├── evaluate_ppo_with_random_attacker.py │ │ ├── evaluate_sac_with_average_adjacent_KL.py │ │ ├── evaluate_sac_with_gradient_ascent_attacker.py │ │ └── evaluate_sac_with_random_attacker.py │ ├── shell_scripts │ │ ├── evaluate │ │ │ ├── bc │ │ │ │ ├── iter_1_aug │ │ │ │ │ ├── evaluate_bc_by_success_rate.sh │ │ │ │ │ ├── evaluate_bc_epsilon_0_1_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_bc_epsilon_0_1_with_random_attacker.sh │ │ │ │ │ ├── evaluate_bc_epsilon_0_5_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_bc_epsilon_0_5_with_random_attacker.sh │ │ │ │ │ ├── evaluate_bc_epsilon_1_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_bc_epsilon_1_with_random_attacker.sh │ │ │ │ │ └── evaluate_bc_with_average_adjacent_kl.sh │ │ │ │ ├── iter_2_aug │ │ │ │ │ └── evaluate_bc_with_average_adjacent_kl.sh │ │ │ │ ├── iter_3_aug │ │ │ │ │ └── evaluate_bc_with_average_adjacent_kl.sh │ │ │ │ └── iter_4_aug │ │ │ │ │ ├── evaluate_bc_by_success_rate.sh │ │ │ │ │ ├── evaluate_bc_epsilon_0_1_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_bc_epsilon_0_1_with_random_attacker.sh │ │ │ │ │ ├── evaluate_bc_epsilon_0_5_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_bc_epsilon_0_5_with_random_attacker.sh │ │ │ │ │ ├── evaluate_bc_epsilon_1_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_bc_epsilon_1_with_random_attacker.sh │ │ │ │ │ └── evaluate_bc_with_average_adjacent_kl.sh │ │ │ ├── her │ │ │ │ ├── N_1 │ │ │ │ │ ├── evaluate_her_by_success_rate.sh │ │ │ │ │ ├── evaluate_her_epsilon_0_1_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_her_epsilon_0_1_with_random_attacker.sh │ │ │ │ │ ├── evaluate_her_epsilon_0_5_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_her_epsilon_0_5_with_random_attacker.sh │ │ │ │ │ ├── evaluate_her_epsilon_1_with_gradient_ascent_attacker.sh │ │ │ │ │ └── evaluate_her_epsilon_1_with_random_attacker.sh │ │ │ │ ├── N_16 │ │ │ │ │ ├── evaluate_her_by_success_rate.sh │ │ │ │ │ ├── evaluate_her_epsilon_0_1_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_her_epsilon_0_1_with_random_attacker.sh │ │ │ │ │ ├── evaluate_her_epsilon_0_5_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_her_epsilon_0_5_with_random_attacker.sh │ │ │ │ │ ├── evaluate_her_epsilon_1_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_her_epsilon_1_with_random_attacker.sh │ │ │ │ │ └── evaluate_smoothgoalher_with_average_adjacent_kl.sh │ │ │ │ ├── N_64 │ │ │ │ │ ├── evaluate_her_epsilon_0_1_with_gradient_ascent_attacker.sh │ │ │ │ │ └── evaluate_her_epsilon_0_1_with_random_attacker.sh │ │ │ │ └── medium │ │ │ │ │ ├── evaluate_her_by_success_rate.sh │ │ │ │ │ └── evaluate_smoothgoalher_with_average_adjacent_kl.sh │ │ │ ├── ppo │ │ │ │ └── N_16 │ │ │ │ │ ├── evaluate_by_success_rate.sh │ │ │ │ │ ├── evaluate_ppo_epsilon_0_1_with_gradient_ascent_attacker.sh │ │ │ │ │ ├── evaluate_ppo_epsilon_0_1_with_random_attacker.sh │ │ │ │ │ └── evaluate_smoothgoalppo_with_average_adjacent_kl.sh │ │ │ └── sac │ │ │ │ └── N_16 │ │ │ │ ├── evaluate_by_success_rate.sh │ │ │ │ ├── evaluate_sac.sh │ │ │ │ ├── evaluate_sac_epsilon_0_01_with_gradient_ascent_attacker.sh │ │ │ │ ├── evaluate_sac_epsilon_0_01_with_random_attacker.sh │ │ │ │ ├── evaluate_sac_epsilon_0_1_with_gradient_ascent_attacker.sh │ │ │ │ ├── evaluate_sac_epsilon_0_1_with_random_attacker.sh │ │ │ │ └── evaluate_smoothgoalsac_with_average_adjacent_kl.sh │ │ └── train │ │ │ ├── ppo_max_random │ │ │ ├── train_ppo_baseline.sh │ │ │ └── train_ppo_max_random.sh │ │ │ ├── single_goal │ │ │ └── train_ppo_medium.sh │ │ │ ├── smooth_goal_ppo_pi │ │ │ └── train.sh │ │ │ ├── smooth_goal_ppo_pi_and_v │ │ │ └── train.sh │ │ │ ├── smooth_goal_ppo_v │ │ │ └── train.sh │ │ │ ├── train_bc_iter_1_aug.sh │ │ │ ├── train_bc_iter_2_aug.sh │ │ │ ├── train_bc_iter_3_aug.sh │ │ │ ├── train_bc_iter_4_aug.sh │ │ │ ├── train_her_on_flycraft_medium.sh │ │ │ ├── train_her_on_flycraft_medium2.sh │ │ │ ├── train_ppo_on_flycraft_medium.sh │ │ │ ├── train_ppo_on_flycraft_medium2.sh │ │ │ └── train_sac_on_flycraft_medium.sh │ ├── test │ │ └── test.ipynb │ ├── train │ │ ├── train_bc.py │ │ ├── train_ppo.py │ │ ├── train_ppo_baseline.py │ │ ├── train_ppo_max_random.py │ │ ├── train_sac.py │ │ └── train_sac_detach.py │ └── utils │ │ ├── evaluation.py │ │ ├── goal_utils.py │ │ ├── reset_env_utils.py │ │ ├── test │ │ ├── test_evaluation.py │ │ └── test_reset_env_utils.py │ │ ├── tryings │ │ └── try_slide.ipynb │ │ └── vec_env_helper.py └── reward_norm │ ├── algorithms │ └── normalizers │ │ ├── base_normalizer.py │ │ ├── nearest_neighbors_normalizer.py │ │ ├── test │ │ ├── end2end_medium_success_model_128_128_2e8steps_lambda_1e-3_1.csv │ │ ├── test.ipynb │ │ ├── test_NN.py │ │ ├── test_nearest_neighbors_normalizer.py │ │ └── test_vec_reward_minmax_normalizer.py │ │ ├── vec_normalize_goal_conditioned_reward_scaling.py │ │ └── vec_reward_minmax_normalizer.py │ ├── evaluations │ ├── evaluate.ipynb │ └── evaluation.py │ ├── shell_scripts │ ├── evaluation │ │ ├── evaluate_her.sh │ │ ├── evaluate_ppo.sh │ │ └── evaluate_sac.sh │ └── train │ │ ├── train_her.sh │ │ ├── train_ppo.sh │ │ └── train_sac.sh │ ├── test │ └── test_reward_scaling.ipynb │ └── train │ ├── train_with_rl_ppo.py │ └── train_with_rl_sac_her.py └── utils_my ├── __init__.py ├── env_utils ├── my_pick_and_place_env.py ├── my_push_env.py ├── my_reach_env.py ├── my_slide_env.py ├── my_stack_env.py ├── register_env.py ├── task │ └── my_reach_task.py └── test │ ├── try_pick_and_place.ipynb │ ├── try_push.ipynb │ ├── try_slide.ipynb │ └── try_stack.ipynb ├── models └── ppo_with_bc_loss.py ├── sb3 ├── __init__.py ├── my_eval_callback.py ├── my_evaluate_policy.py ├── my_reach_reward_wrapper.py ├── my_replay_buffer_utils.py ├── my_rollout.py ├── my_schedule.py ├── my_vec_frame_stack_env.py ├── my_vec_normalize_save_callback.py ├── my_wrappers.py ├── test.ipynb ├── test │ └── test_rollout.py └── 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