├── .gitignore ├── README.md ├── experiments ├── __init__.py ├── args.py ├── estimator_helper.py ├── experiment_driver.py └── experiment_driver_policy.py ├── parameter_estimation ├── __init__.py ├── adr │ ├── README.md │ ├── __init__.py │ └── svpg │ │ ├── __init__.py │ │ ├── particles │ │ ├── __init__.py │ │ ├── distributions.py │ │ ├── svpg_particle.py │ │ └── utils.py │ │ ├── svpg.py │ │ └── svpg_utils.py ├── bayessim │ ├── README.md │ ├── __init__.py │ ├── model_helper.py │ ├── models │ │ ├── __init__.py │ │ ├── abc_elfi.py │ │ ├── actor_critic.py │ │ ├── approximators.py │ │ ├── bayes_sim.py │ │ ├── controllers │ │ │ ├── DDPG │ │ │ │ └── policy_best.pkl │ │ │ ├── PPO │ │ │ │ ├── CartPole-v1.pkl │ │ │ │ └── Pendulum-v0.pkl │ │ │ ├── cartpole_rl.py │ │ │ └── pendulum_rl.py │ │ ├── ddpg.py │ │ ├── flow.py │ │ ├── kernels.py │ │ ├── mcmc │ │ │ ├── __init__.py │ │ │ ├── architectures.py │ │ │ ├── bayesian_neural_network.py │ │ │ ├── losses.py │ │ │ ├── priors.py │ │ │ ├── sghmc.py │ │ │ ├── sgld.py │ │ │ └── svgd.py │ │ ├── mdn.py │ │ ├── mdn_torch.py │ │ ├── online_bayes_sim.py │ │ ├── optimisers.py │ │ ├── random_features.py │ │ ├── random_features_tf.py │ │ ├── random_features_torch.py │ │ ├── rnn.py │ │ └── svgd.py │ └── utils │ │ ├── __init__.py │ │ └── pdf.py ├── envs │ ├── __init__.py │ ├── assets │ │ ├── Adroit │ │ │ ├── .gitignore │ │ │ ├── Adroit_hand.xml │ │ │ ├── Adroit_hand_withOverlay.xml │ │ │ └── resources │ │ │ │ ├── assets.xml │ │ │ │ ├── chain.xml │ │ │ │ ├── chain1.xml │ │ │ │ ├── joint_position_actuation.xml │ │ │ │ ├── meshes │ │ │ │ ├── F1.stl │ │ │ │ ├── F2.stl │ │ │ │ ├── F3.stl │ │ │ │ ├── TH1_z.stl │ │ │ │ ├── TH2_z.stl │ │ │ │ ├── TH3_z.stl │ │ │ │ ├── arm_base.stl │ │ │ │ ├── arm_trunk.stl │ │ │ │ ├── arm_trunk_asmbly.stl │ │ │ │ ├── distal_ellipsoid.stl │ │ │ │ ├── elbow_flex.stl │ │ │ │ ├── elbow_rotate_motor.stl │ │ │ │ ├── elbow_rotate_muscle.stl │ │ │ │ ├── forearm_Cy_PlateAsmbly(muscle_cone).stl │ │ │ │ ├── forearm_Cy_PlateAsmbly.stl │ │ │ │ ├── forearm_PlateAsmbly.stl │ │ │ │ ├── forearm_electric.stl │ │ │ │ ├── forearm_electric_cvx.stl │ │ │ │ ├── forearm_muscle.stl │ │ │ │ ├── forearm_simple.stl │ │ │ │ ├── forearm_simple_cvx.stl │ │ │ │ ├── forearm_weight.stl │ │ │ │ ├── knuckle.stl │ │ │ │ ├── lfmetacarpal.stl │ │ │ │ ├── palm.stl │ │ │ │ ├── upper_arm.stl │ │ │ │ ├── upper_arm_asmbl_shoulder.stl │ │ │ │ ├── upper_arm_ass.stl │ │ │ │ └── wrist.stl │ │ │ │ ├── tendon_torque_actuation.xml │ │ │ │ └── textures │ │ │ │ ├── darkwood.png │ │ │ │ ├── dice.png │ │ │ │ ├── foil.png │ │ │ │ ├── marble.png │ │ │ │ ├── silverRaw.png │ │ │ │ ├── skin.png │ │ │ │ ├── square.png │ │ │ │ ├── wood.png │ │ │ │ └── woodb.png │ │ ├── LICENSE.md │ │ ├── __init__.py │ │ ├── fetch │ │ │ ├── pick_and_place.xml │ │ │ ├── push.xml │ │ │ ├── robot.xml │ │ │ ├── shared.xml │ │ │ └── slide.xml │ │ ├── franka │ │ │ ├── franka-assets.xml │ │ │ ├── franka-cabinet.xml │ │ │ ├── franka-door.xml │ │ │ ├── franka.xml │ │ │ ├── meshes │ │ │ │ ├── franka │ │ │ │ │ ├── finger.dae │ │ │ │ │ ├── finger.mtl │ │ │ │ │ ├── finger.obj │ │ │ │ │ ├── finger.stl │ │ │ │ │ ├── hand.dae │ │ │ │ │ ├── hand.mtl │ │ │ │ │ ├── hand.obj │ │ │ │ │ ├── hand.stl │ │ │ │ │ ├── link0.dae │ │ │ │ │ ├── link0.mtl │ │ │ │ │ ├── link0.obj │ │ │ │ │ ├── link0.stl │ │ │ │ │ ├── link1.dae │ │ │ │ │ ├── link1.mtl │ │ │ │ │ ├── link1.obj │ │ │ │ │ ├── link1.stl │ │ │ │ │ ├── link2.dae │ │ │ │ │ ├── link2.mtl │ │ │ │ │ ├── link2.obj │ │ │ │ │ ├── link2.stl │ │ │ │ │ ├── link3.dae │ │ │ │ │ ├── link3.mtl │ │ │ │ │ ├── link3.obj │ │ │ │ │ ├── link3.stl │ │ │ │ │ ├── link4.dae │ │ │ │ │ ├── link4.mtl │ │ │ │ │ ├── link4.obj │ │ │ │ │ ├── link4.stl │ │ │ │ │ ├── link5.dae │ │ │ │ │ ├── link5.mtl │ │ │ │ │ ├── link5.obj │ │ │ │ │ ├── link5.stl │ │ │ │ │ ├── link6.dae │ │ │ │ │ ├── link6.mtl │ │ │ │ │ ├── link6.obj │ │ │ │ │ ├── link6.stl │ │ │ │ │ ├── link7.dae │ │ │ │ │ ├── link7.mtl │ │ │ │ │ ├── link7.obj │ │ │ │ │ └── link7.stl │ │ │ │ └── sektion_cabinet │ │ │ │ │ ├── door_left.stl │ │ │ │ │ ├── door_left_nob.stl │ │ │ │ │ ├── door_right.stl │ │ │ │ │ ├── door_right_nob.stl │ │ │ │ │ ├── drawer.stl │ │ │ │ │ ├── drawer_handle.stl │ │ │ │ │ └── sektion.stl │ │ │ ├── sektion-cabinet-assets.xml │ │ │ └── sektion-cabinet.xml │ │ ├── hms │ │ │ ├── DAPG_Adroit.xml │ │ │ ├── DAPG_assets.xml │ │ │ ├── DAPG_door.xml │ │ │ ├── DAPG_hammer.xml │ │ │ ├── DAPG_pen.xml │ │ │ ├── DAPG_relocate.xml │ │ │ └── tasks.jpg │ │ ├── pusher_3dof.xml │ │ └── stls │ │ │ └── fetch │ │ │ ├── base_link_collision.stl │ │ │ ├── bellows_link_collision.stl │ │ │ ├── elbow_flex_link_collision.stl │ │ │ ├── estop_link.stl │ │ │ ├── forearm_roll_link_collision.stl │ │ │ ├── gripper_link.stl │ │ │ ├── head_pan_link_collision.stl │ │ │ ├── head_tilt_link_collision.stl │ │ │ ├── l_wheel_link_collision.stl │ │ │ ├── laser_link.stl │ │ │ ├── r_wheel_link_collision.stl │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ ├── torso_fixed_link.stl │ │ │ ├── torso_lift_link_collision.stl │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ ├── wrist_flex_link_collision.stl │ │ │ └── wrist_roll_link_collision.stl │ ├── config │ │ ├── DoorRandomized │ │ │ ├── default.json │ │ │ └── fulldr.json │ │ ├── FetchRandomized │ │ │ ├── default.json │ │ │ ├── fulldr.json │ │ │ ├── slide_default.json │ │ │ └── slide_fulldr.json │ │ ├── FrankaRandomized │ │ │ ├── default.json │ │ │ └── fulldr.json │ │ ├── HalfCheetahJointsRandomized │ │ │ ├── default.json │ │ │ └── fulldr.json │ │ ├── HalfCheetahLinksRandomized │ │ │ ├── default.json │ │ │ └── fulldr.json │ │ ├── HumanoidJointsRandomized │ │ │ ├── default.json │ │ │ └── fulldr.json │ │ ├── HumanoidLinksRandomized │ │ │ ├── default.json │ │ │ └── fulldr.json │ │ ├── LunarLanderRandomized │ │ │ └── default.json │ │ ├── RelocateRandomized │ │ │ ├── default.json │ │ │ └── fulldr.json │ │ └── __init__.py │ ├── dimension.py │ ├── door.py │ ├── fetch.py │ ├── franka.py │ ├── half_cheetah.py │ ├── humanoid.py │ ├── lunar_lander.py │ ├── quatmath.py │ ├── randomized_locomotion.py │ ├── randomized_vecenv.py │ ├── relocate.py │ └── wrappers.py ├── estimators │ ├── __init__.py │ ├── adr_estimator.py │ ├── base_estimator.py │ ├── bayesianopt_estimator.py │ ├── bayessim_estimator.py │ ├── gail_estimator.py │ ├── linearreg_estimator.py │ ├── maml_estimator.py │ └── simopt_estimator.py ├── gail │ └── __init__.py ├── maml │ ├── __init__.py │ ├── data.py │ └── network.py ├── regression │ ├── __init__.py │ ├── network.py │ └── train.py ├── rewarders │ ├── __init__.py │ ├── discriminator_rewarder.py │ └── statedifference_rewarder.py ├── simopt │ └── reps.py └── utils │ ├── __init__.py │ ├── logging.py │ └── rollout_evaluation.py └── run_experiments.bash /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/sim-parameter-estimation/HEAD/.gitignore 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