├── .idea ├── .gitignore ├── HierAIRL.iml ├── inspectionProfiles │ └── profiles_settings.xml ├── misc.xml ├── modules.xml └── vcs.xml ├── HierAIRL_Ant ├── .idea │ ├── .gitignore │ ├── Option-GAIL-main.iml │ ├── deployment.xml │ ├── inspectionProfiles │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ └── webServers.xml ├── __init__.py ├── __pycache__ │ ├── default_config.cpython-38.pyc │ ├── pre_train.cpython-38.pyc │ ├── sampler.cpython-38.pyc │ └── vae_pretrain.cpython-38.pyc ├── data │ └── mujoco │ │ └── AntPush-v0_sample.torch ├── default_config.py ├── envir │ ├── __pycache__ │ │ ├── mujoco_env.cpython-38.pyc │ │ └── rlbench_env.cpython-38.pyc │ ├── ant_maze_env_ex │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── ant_maze_env.cpython-38.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ └── maze_env_utils.cpython-38.pyc │ │ ├── ant.py │ │ ├── ant_maze_env.py │ │ ├── assets │ │ │ └── ant.xml │ │ ├── maze_env.py │ │ └── maze_env_utils.py │ ├── ant_push_demo.py │ ├── manuel_rlbench_demo.py │ ├── mujoco_env.py │ ├── mujoco_maze │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── agent_model.cpython-36.pyc │ │ │ ├── agent_model.cpython-38.pyc │ │ │ ├── ant.cpython-36.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── maze_env.cpython-36.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ ├── maze_env_utils.cpython-36.pyc │ │ │ ├── maze_env_utils.cpython-38.pyc │ │ │ ├── maze_task.cpython-36.pyc │ │ │ ├── maze_task.cpython-38.pyc │ │ │ ├── point.cpython-36.pyc │ │ │ ├── point.cpython-38.pyc │ │ │ ├── reacher.cpython-36.pyc │ │ │ └── swimmer.cpython-36.pyc │ │ ├── agent_model.py │ │ ├── ant.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ └── point.xml │ │ ├── demo.py │ │ ├── maze_env.py │ │ ├── maze_env_utils.py │ │ ├── maze_task.py │ │ └── point.py │ ├── render_learned_model.py │ └── rlbench_env.py ├── model │ ├── MHA_option_il.py │ ├── MHA_option_policy_critic.py │ ├── MHA_option_ppo.py │ ├── __pycache__ │ │ ├── MHA_option_il.cpython-38.pyc │ │ ├── MHA_option_policy_critic.cpython-38.pyc │ │ ├── MHA_option_ppo.cpython-38.pyc │ │ ├── option_airl.cpython-38.pyc │ │ ├── option_critic.cpython-38.pyc │ │ ├── option_discriminator.cpython-38.pyc │ │ ├── option_gail.cpython-38.pyc │ │ ├── option_policy.cpython-38.pyc │ │ └── option_ppo.cpython-38.pyc │ ├── option_airl.py │ ├── option_critic.py │ ├── option_discriminator.py │ ├── option_gail.py │ ├── option_policy.py │ └── option_ppo.py ├── run_baselines.py ├── run_main.py ├── run_ppo_expert.py ├── sampler.py ├── utils │ ├── MHA_model_util.py │ ├── __pycache__ │ │ ├── MHA_model_util.cpython-38.pyc │ │ ├── common_utils.cpython-38.pyc │ │ ├── config.cpython-38.pyc │ │ ├── logger.cpython-38.pyc │ │ ├── model_util.cpython-38.pyc │ │ └── state_filter.cpython-38.pyc │ ├── common_utils.py │ ├── config.py │ ├── logger.py │ ├── model_util.py │ └── state_filter.py └── vae_pretrain.py ├── HierAIRL_Hopper ├── .idea │ ├── .gitignore │ ├── Option-GAIL-main.iml │ ├── deployment.xml │ ├── inspectionProfiles │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ └── webServers.xml ├── __init__.py ├── __pycache__ │ ├── default_config.cpython-38.pyc │ ├── pre_train.cpython-38.pyc │ ├── sampler.cpython-38.pyc │ └── vae_pretrain.cpython-38.pyc ├── data │ └── mujoco │ │ └── Hopper-v2_sample.torch ├── default_config.py ├── envir │ ├── __pycache__ │ │ ├── mujoco_env.cpython-38.pyc │ │ └── rlbench_env.cpython-38.pyc │ ├── ant_maze_env_ex │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── ant_maze_env.cpython-38.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ └── maze_env_utils.cpython-38.pyc │ │ ├── ant.py │ │ ├── ant_maze_env.py │ │ ├── assets │ │ │ └── ant.xml │ │ ├── maze_env.py │ │ └── maze_env_utils.py │ ├── ant_push_demo.py │ ├── manuel_rlbench_demo.py │ ├── model │ │ └── hopper │ │ │ ├── 1299.torch │ │ │ └── 8349.torch │ ├── mujoco_env.py │ ├── mujoco_maze │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── agent_model.cpython-36.pyc │ │ │ ├── agent_model.cpython-38.pyc │ │ │ ├── ant.cpython-36.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── maze_env.cpython-36.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ ├── maze_env_utils.cpython-36.pyc │ │ │ ├── maze_env_utils.cpython-38.pyc │ │ │ ├── maze_task.cpython-36.pyc │ │ │ ├── maze_task.cpython-38.pyc │ │ │ ├── point.cpython-36.pyc │ │ │ ├── point.cpython-38.pyc │ │ │ ├── reacher.cpython-36.pyc │ │ │ └── swimmer.cpython-36.pyc │ │ ├── agent_model.py │ │ ├── ant.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ └── point.xml │ │ ├── demo.py │ │ ├── maze_env.py │ │ ├── maze_env_utils.py │ │ ├── maze_task.py │ │ └── point.py │ ├── render_learned_model.py │ └── rlbench_env.py ├── model │ ├── MHA_option_il.py │ ├── MHA_option_policy_critic.py │ ├── MHA_option_ppo.py │ ├── __pycache__ │ │ ├── MHA_option_il.cpython-38.pyc │ │ ├── MHA_option_policy_critic.cpython-38.pyc │ │ ├── MHA_option_ppo.cpython-38.pyc │ │ ├── option_airl.cpython-38.pyc │ │ ├── option_critic.cpython-38.pyc │ │ ├── option_discriminator.cpython-38.pyc │ │ ├── option_gail.cpython-38.pyc │ │ ├── option_policy.cpython-38.pyc │ │ └── option_ppo.cpython-38.pyc │ ├── option_airl.py │ ├── option_critic.py │ ├── option_discriminator.py │ ├── option_gail.py │ ├── option_policy.py │ └── option_ppo.py ├── run_baselines.py ├── run_main.py ├── run_ppo_expert.py ├── sampler.py ├── utils │ ├── MHA_model_util.py │ ├── __pycache__ │ │ ├── MHA_model_util.cpython-38.pyc │ │ ├── common_utils.cpython-38.pyc │ │ ├── config.cpython-38.pyc │ │ ├── logger.cpython-38.pyc │ │ ├── model_util.cpython-38.pyc │ │ └── state_filter.cpython-38.pyc │ ├── common_utils.py │ ├── config.py │ ├── logger.py │ ├── model_util.py │ └── state_filter.py └── vae_pretrain.py ├── HierAIRL_Point ├── __init__.py ├── data │ └── mujoco │ │ ├── Point4Rooms-v1_sample.torch │ │ └── PointCorridor-v1_sample.torch ├── default_config.py ├── envir │ ├── ant_maze_env_ex │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── ant_maze_env.cpython-38.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ └── maze_env_utils.cpython-38.pyc │ │ ├── ant.py │ │ ├── ant_maze_env.py │ │ ├── assets │ │ │ └── ant.xml │ │ ├── maze_env.py │ │ └── maze_env_utils.py │ ├── ant_push_demo.py │ ├── manuel_rlbench_demo.py │ ├── model │ │ ├── ant │ │ │ ├── 3949.torch │ │ │ └── 4749.torch │ │ ├── hopper │ │ │ ├── 1299.torch │ │ │ └── 8349.torch │ │ ├── pusher │ │ │ ├── 1399.torch │ │ │ └── 5599.torch │ │ ├── striker │ │ │ └── 8349.torch │ │ ├── thrower │ │ │ └── 8499.torch │ │ └── walker │ │ │ └── 6349.torch │ ├── mujoco_env.py │ ├── mujoco_maze │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── agent_model.cpython-36.pyc │ │ │ ├── agent_model.cpython-38.pyc │ │ │ ├── ant.cpython-36.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── maze_env.cpython-36.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ ├── maze_env_utils.cpython-36.pyc │ │ │ ├── maze_env_utils.cpython-38.pyc │ │ │ ├── maze_task.cpython-36.pyc │ │ │ ├── maze_task.cpython-38.pyc │ │ │ ├── point.cpython-36.pyc │ │ │ ├── point.cpython-38.pyc │ │ │ ├── reacher.cpython-36.pyc │ │ │ └── swimmer.cpython-36.pyc │ │ ├── agent_model.py │ │ ├── ant.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ └── point.xml │ │ ├── demo.py │ │ ├── maze_env.py │ │ ├── maze_env_utils.py │ │ ├── maze_task.py │ │ └── point.py │ └── rlbench_env.py ├── fig_save │ ├── corridor_exp.png │ ├── corridor_learned.png │ ├── maze_exp.png │ └── maze_learned.png ├── model │ ├── MHA_option_il.py │ ├── MHA_option_policy_critic.py │ ├── MHA_option_ppo.py │ ├── __pycache__ │ │ ├── MHA_option_il.cpython-38.pyc │ │ ├── MHA_option_policy_critic.cpython-38.pyc │ │ ├── MHA_option_ppo.cpython-38.pyc │ │ ├── option_airl.cpython-38.pyc │ │ ├── option_critic.cpython-38.pyc │ │ ├── option_discriminator.cpython-38.pyc │ │ ├── option_gail.cpython-38.pyc │ │ ├── option_policy.cpython-38.pyc │ │ └── option_ppo.cpython-38.pyc │ ├── option_airl.py │ ├── option_critic.py │ ├── option_discriminator.py │ ├── option_gail.py │ ├── option_policy.py │ └── option_ppo.py ├── plot_ckpt │ ├── corridor │ │ └── 1954.torch │ └── room │ │ └── 1799.torch ├── plot_options.py ├── plot_options_exp.py ├── run_baselines.py ├── run_main.py ├── run_ppo_expert.py ├── sampler.py ├── utils │ ├── MHA_model_util.py │ ├── __pycache__ │ │ ├── MHA_model_util.cpython-38.pyc │ │ ├── common_utils.cpython-38.pyc │ │ ├── config.cpython-38.pyc │ │ ├── logger.cpython-38.pyc │ │ ├── model_util.cpython-38.pyc │ │ ├── plot_utils.cpython-38.pyc │ │ └── state_filter.cpython-38.pyc │ ├── common_utils.py │ ├── config.py │ ├── logger.py │ ├── model_util.py │ ├── plot_utils.py │ └── state_filter.py └── vae_pretrain.py ├── HierAIRL_Point_Corridor_transfer ├── __init__.py ├── data │ └── mujoco │ │ └── PointCorridor-v1_sample.torch ├── default_config.py ├── draw_plts.py ├── envir │ ├── ant_maze_env_ex │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── ant_maze_env.cpython-38.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ └── maze_env_utils.cpython-38.pyc │ │ ├── ant.py │ │ ├── ant_maze_env.py │ │ ├── assets │ │ │ └── ant.xml │ │ ├── maze_env.py │ │ └── maze_env_utils.py │ ├── ant_push_demo.py │ ├── manuel_rlbench_demo.py │ ├── model │ │ ├── ant │ │ │ ├── 3949.torch │ │ │ └── 4749.torch │ │ ├── hopper │ │ │ ├── 1299.torch │ │ │ └── 8349.torch │ │ ├── pusher │ │ │ ├── 1399.torch │ │ │ └── 5599.torch │ │ ├── striker │ │ │ └── 8349.torch │ │ ├── thrower │ │ │ └── 8499.torch │ │ └── walker │ │ │ └── 6349.torch │ ├── mujoco_env.py │ ├── mujoco_maze │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── agent_model.cpython-36.pyc │ │ │ ├── agent_model.cpython-38.pyc │ │ │ ├── ant.cpython-36.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── maze_env.cpython-36.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ ├── maze_env_utils.cpython-36.pyc │ │ │ ├── maze_env_utils.cpython-38.pyc │ │ │ ├── maze_task.cpython-36.pyc │ │ │ ├── maze_task.cpython-38.pyc │ │ │ ├── point.cpython-36.pyc │ │ │ ├── point.cpython-38.pyc │ │ │ ├── reacher.cpython-36.pyc │ │ │ └── swimmer.cpython-36.pyc │ │ ├── agent_model.py │ │ ├── ant.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ └── point.xml │ │ ├── demo.py │ │ ├── maze_env.py │ │ ├── maze_env_utils.py │ │ ├── maze_task.py │ │ └── point.py │ └── rlbench_env.py ├── log_saved │ ├── 22795.csv │ ├── 22833.csv │ ├── 22858.csv │ ├── 22915.csv │ ├── 22943.csv │ ├── 22973.csv │ ├── 28624.csv │ ├── 28724.csv │ ├── 28801.csv │ ├── 28883.csv │ ├── 29031.csv │ ├── 29179.csv │ └── PointCorridorReward.png ├── model │ ├── MHA_option_il.py │ ├── MHA_option_policy_critic.py │ ├── MHA_option_ppo.py │ ├── __pycache__ │ │ ├── MHA_option_il.cpython-38.pyc │ │ ├── MHA_option_policy_critic.cpython-38.pyc │ │ ├── MHA_option_ppo.cpython-38.pyc │ │ ├── option_airl.cpython-38.pyc │ │ ├── option_critic.cpython-38.pyc │ │ ├── option_discriminator.cpython-38.pyc │ │ ├── option_gail.cpython-38.pyc │ │ ├── option_policy.cpython-38.pyc │ │ └── option_ppo.cpython-38.pyc │ ├── option_airl.py │ ├── option_critic.py │ ├── option_discriminator.py │ ├── option_gail.py │ ├── option_policy.py │ └── option_ppo.py ├── plot_ckpt │ └── corridor │ │ └── 1964.torch ├── run_baselines.py ├── run_main.py ├── run_ppo_expert.py ├── sampler.py ├── utils │ ├── MHA_model_util.py │ ├── __pycache__ │ │ ├── MHA_model_util.cpython-38.pyc │ │ ├── common_utils.cpython-38.pyc │ │ ├── config.cpython-38.pyc │ │ ├── logger.cpython-38.pyc │ │ ├── model_util.cpython-38.pyc │ │ ├── plot_utils.cpython-38.pyc │ │ └── state_filter.cpython-38.pyc │ ├── common_utils.py │ ├── config.py │ ├── logger.py │ ├── model_util.py │ ├── plot_utils.py │ └── state_filter.py └── vae_pretrain.py ├── HierAIRL_Point_Room_transfer ├── __init__.py ├── data │ └── mujoco │ │ └── Point4Rooms-v1_sample.torch ├── default_config.py ├── draw_plts.py ├── envir │ ├── ant_maze_env_ex │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── ant_maze_env.cpython-38.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ └── maze_env_utils.cpython-38.pyc │ │ ├── ant.py │ │ ├── ant_maze_env.py │ │ ├── assets │ │ │ └── ant.xml │ │ ├── maze_env.py │ │ └── maze_env_utils.py │ ├── ant_push_demo.py │ ├── manuel_rlbench_demo.py │ ├── model │ │ ├── ant │ │ │ ├── 3949.torch │ │ │ └── 4749.torch │ │ ├── hopper │ │ │ ├── 1299.torch │ │ │ └── 8349.torch │ │ ├── pusher │ │ │ ├── 1399.torch │ │ │ └── 5599.torch │ │ ├── striker │ │ │ └── 8349.torch │ │ ├── thrower │ │ │ └── 8499.torch │ │ └── walker │ │ │ └── 6349.torch │ ├── mujoco_env.py │ ├── mujoco_maze │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── agent_model.cpython-36.pyc │ │ │ ├── agent_model.cpython-38.pyc │ │ │ ├── ant.cpython-36.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── maze_env.cpython-36.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ ├── maze_env_utils.cpython-36.pyc │ │ │ ├── maze_env_utils.cpython-38.pyc │ │ │ ├── maze_task.cpython-36.pyc │ │ │ ├── maze_task.cpython-38.pyc │ │ │ ├── point.cpython-36.pyc │ │ │ ├── point.cpython-38.pyc │ │ │ ├── reacher.cpython-36.pyc │ │ │ └── swimmer.cpython-36.pyc │ │ ├── agent_model.py │ │ ├── ant.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ └── point.xml │ │ ├── demo.py │ │ ├── maze_env.py │ │ ├── maze_env_utils.py │ │ ├── maze_task.py │ │ └── point.py │ └── rlbench_env.py ├── log_saved │ ├── 0.csv │ ├── 1.csv │ ├── 10.csv │ ├── 11.csv │ ├── 2.csv │ ├── 3.csv │ ├── 4.csv │ ├── 5.csv │ ├── 6.csv │ ├── 7.csv │ ├── 8.csv │ ├── 9.csv │ └── PointRoomReward.png ├── model │ ├── MHA_option_il.py │ ├── MHA_option_policy_critic.py │ ├── MHA_option_ppo.py │ ├── __pycache__ │ │ ├── MHA_option_il.cpython-38.pyc │ │ ├── MHA_option_policy_critic.cpython-38.pyc │ │ ├── MHA_option_ppo.cpython-38.pyc │ │ ├── option_airl.cpython-38.pyc │ │ ├── option_critic.cpython-38.pyc │ │ ├── option_discriminator.cpython-38.pyc │ │ ├── option_gail.cpython-38.pyc │ │ ├── option_policy.cpython-38.pyc │ │ └── option_ppo.cpython-38.pyc │ ├── option_airl.py │ ├── option_critic.py │ ├── option_discriminator.py │ ├── option_gail.py │ ├── option_policy.py │ └── option_ppo.py ├── plot_ckpt │ └── room │ │ └── 1799.torch ├── run_baselines.py ├── run_main.py ├── run_ppo_expert.py ├── sampler.py ├── utils │ ├── MHA_model_util.py │ ├── __pycache__ │ │ ├── MHA_model_util.cpython-38.pyc │ │ ├── common_utils.cpython-38.pyc │ │ ├── config.cpython-38.pyc │ │ ├── logger.cpython-38.pyc │ │ ├── model_util.cpython-38.pyc │ │ ├── plot_utils.cpython-38.pyc │ │ └── state_filter.cpython-38.pyc │ ├── common_utils.py │ ├── config.py │ ├── logger.py │ ├── model_util.py │ ├── plot_utils.py │ └── state_filter.py └── vae_pretrain.py ├── HierAIRL_Walker ├── .idea │ ├── .gitignore │ ├── Option-GAIL-main.iml │ ├── deployment.xml │ ├── inspectionProfiles │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ └── webServers.xml ├── __init__.py ├── __pycache__ │ ├── default_config.cpython-38.pyc │ ├── pre_train.cpython-38.pyc │ ├── sampler.cpython-38.pyc │ └── vae_pretrain.cpython-38.pyc ├── data │ └── mujoco │ │ └── Walker2d-v2_sample.torch ├── default_config.py ├── envir │ ├── __pycache__ │ │ ├── mujoco_env.cpython-38.pyc │ │ └── rlbench_env.cpython-38.pyc │ ├── ant_maze_env_ex │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── ant_maze_env.cpython-38.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ └── maze_env_utils.cpython-38.pyc │ │ ├── ant.py │ │ ├── ant_maze_env.py │ │ ├── assets │ │ │ └── ant.xml │ │ ├── maze_env.py │ │ └── maze_env_utils.py │ ├── ant_push_demo.py │ ├── manuel_rlbench_demo.py │ ├── model │ │ └── walker │ │ │ └── 6349.torch │ ├── mujoco_env.py │ ├── mujoco_maze │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── agent_model.cpython-36.pyc │ │ │ ├── agent_model.cpython-38.pyc │ │ │ ├── ant.cpython-36.pyc │ │ │ ├── ant.cpython-38.pyc │ │ │ ├── maze_env.cpython-36.pyc │ │ │ ├── maze_env.cpython-38.pyc │ │ │ ├── maze_env_utils.cpython-36.pyc │ │ │ ├── maze_env_utils.cpython-38.pyc │ │ │ ├── maze_task.cpython-36.pyc │ │ │ ├── maze_task.cpython-38.pyc │ │ │ ├── point.cpython-36.pyc │ │ │ ├── point.cpython-38.pyc │ │ │ ├── reacher.cpython-36.pyc │ │ │ └── swimmer.cpython-36.pyc │ │ ├── agent_model.py │ │ ├── ant.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ └── point.xml │ │ ├── demo.py │ │ ├── maze_env.py │ │ ├── maze_env_utils.py │ │ ├── maze_task.py │ │ └── point.py │ ├── new_file │ │ └── __init__.py │ ├── render_learned_model.py │ └── rlbench_env.py ├── model │ ├── MHA_option_il.py │ ├── MHA_option_policy_critic.py │ ├── MHA_option_ppo.py │ ├── __pycache__ │ │ ├── MHA_option_il.cpython-38.pyc │ │ ├── MHA_option_policy_critic.cpython-38.pyc │ │ ├── MHA_option_ppo.cpython-38.pyc │ │ ├── option_airl.cpython-38.pyc │ │ ├── option_critic.cpython-38.pyc │ │ ├── option_discriminator.cpython-38.pyc │ │ ├── option_gail.cpython-38.pyc │ │ ├── option_policy.cpython-38.pyc │ │ └── option_ppo.cpython-38.pyc │ ├── option_airl.py │ ├── option_critic.py │ ├── option_discriminator.py │ ├── option_gail.py │ ├── option_policy.py │ └── option_ppo.py ├── run_baselines.py ├── run_main.py ├── run_ppo_expert.py ├── sampler.py ├── utils │ ├── MHA_model_util.py │ ├── __pycache__ │ │ ├── MHA_model_util.cpython-38.pyc │ │ ├── common_utils.cpython-38.pyc │ │ ├── config.cpython-38.pyc │ │ ├── logger.cpython-38.pyc │ │ ├── model_util.cpython-38.pyc │ │ └── state_filter.cpython-38.pyc │ ├── common_utils.py │ ├── config.py │ ├── logger.py │ ├── model_util.py │ └── state_filter.py └── vae_pretrain.py ├── ICRA.pdf └── README.md /.idea/.gitignore: -------------------------------------------------------------------------------- 1 | # Default ignored files 2 | 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