├── .github └── workflows │ └── pre-commit.yml ├── .gitignore ├── .pre-commit-config.yaml ├── Dockerfile ├── LICENSE ├── README.md ├── analysis └── benchmark.ipynb ├── configs ├── agent │ ├── ddpg.yaml │ ├── ddpg_simba.yaml │ ├── random.yaml │ ├── sac.yaml │ └── sac_simba.yaml ├── base.yaml ├── buffer │ └── numpy_uniform.yaml └── env │ ├── dmc_em.yaml │ ├── dmc_hard.yaml │ ├── hb_locomotion.yaml │ └── myosuite.yaml ├── deps ├── dev.requirements.txt ├── environment.yaml └── requirements.txt ├── docs ├── .DS_Store ├── images │ ├── overview.png │ ├── ppo_craftax1.gif │ ├── ppo_craftax2.gif │ ├── simba_architecture.png │ ├── simba_craftax1.gif │ └── simba_craftax2.gif ├── index.html ├── style.css ├── thumbnails │ ├── 0.png │ ├── 1.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ ├── 5.png │ ├── 6.png │ ├── 7.png │ ├── 8.png │ └── 9.png └── videos │ ├── metra.mp4 │ ├── metra_simba.mp4 │ ├── simba-acrobot-swingup.mp4 │ ├── simba-cartpole-balance-sparse.mp4 │ ├── simba-cartpole-balance.mp4 │ ├── simba-cartpole-swingup-sparse.mp4 │ ├── simba-cartpole-swingup.mp4 │ ├── simba-cheetah-run.mp4 │ ├── simba-dog-run.mp4 │ ├── simba-dog-stand.mp4 │ ├── simba-dog-trot.mp4 │ ├── simba-dog-walk.mp4 │ ├── simba-finger-spin.mp4 │ ├── simba-finger-turn-easy.mp4 │ ├── simba-finger-turn-hard.mp4 │ ├── simba-fish-swim.mp4 │ ├── simba-h1-balance-hard.mp4 │ ├── simba-h1-balance-simple.mp4 │ ├── simba-h1-crawl.mp4 │ ├── simba-h1-hurdle.mp4 │ ├── simba-h1-maze.mp4 │ ├── simba-h1-pole.mp4 │ ├── simba-h1-reach.mp4 │ ├── simba-h1-run.mp4 │ ├── simba-h1-sit-hard.mp4 │ ├── simba-h1-sit-simple.mp4 │ ├── simba-h1-slide.mp4 │ ├── simba-h1-stair.mp4 │ ├── simba-h1-stand.mp4 │ ├── simba-h1-walk.mp4 │ ├── simba-hopper-hop.mp4 │ ├── simba-hopper-stand.mp4 │ ├── simba-humanoid-run.mp4 │ ├── simba-humanoid-stand.mp4 │ ├── simba-humanoid-walk.mp4 │ ├── simba-myo-key-easy.mp4 │ ├── simba-myo-key-hard.mp4 │ ├── simba-myo-obj-easy.mp4 │ ├── simba-myo-obj-hard.mp4 │ ├── simba-myo-pen-easy.mp4 │ ├── simba-myo-pen-hard.mp4 │ ├── simba-myo-pose-easy.mp4 │ ├── simba-myo-pose-hard.mp4 │ ├── simba-myo-reach-easy.mp4 │ ├── simba-myo-reach-hard.mp4 │ ├── simba-pendulum-swingup.mp4 │ ├── simba-quadruped-run.mp4 │ ├── simba-quadruped-walk.mp4 │ ├── simba-reacher-easy.mp4 │ ├── simba-reacher-hard.mp4 │ ├── simba-walker-run.mp4 │ ├── simba-walker-stand.mp4 │ └── simba-walker-walk.mp4 ├── results ├── bro.csv ├── ddpg.csv ├── ddpg_simba.csv ├── dreamerv3.csv ├── metra.csv ├── metra_simba.csv ├── ppo.csv ├── ppo_simba.csv ├── sac.csv ├── sac_simba.csv ├── td7.csv ├── tdmpc2.csv └── tdmpc2_simba.csv ├── run.py ├── run_parallel.py ├── scale_rl ├── __init__.py ├── agents │ ├── __init__.py │ ├── base_agent.py │ ├── ddpg │ │ ├── __init__.py │ │ ├── ddpg_agent.py │ │ ├── ddpg_network.py │ │ └── ddpg_update.py │ ├── random_agent.py │ ├── sac │ │ ├── __init__.py │ │ ├── sac_agent.py │ │ ├── sac_network.py │ │ └── sac_update.py │ └── wrappers │ │ ├── __init__.py │ │ ├── normalization.py │ │ └── utils.py ├── buffers │ ├── __init__.py │ ├── base_buffer.py │ ├── numpy_buffer.py │ └── utils.py ├── common │ ├── __init__.py │ ├── colored_noise.py │ ├── logger.py │ ├── scheduler.py │ └── wandb_utils.py ├── envs │ ├── __init__.py │ ├── dmc.py │ ├── humanoid_bench.py │ ├── mujoco.py │ ├── myosuite.py │ └── wrappers │ │ ├── __init__.py │ │ ├── do_not_terminate.py │ │ ├── monitor.py │ │ ├── repeat_action.py │ │ ├── scale_reward.py │ │ └── vector │ │ ├── __init__.py │ │ ├── async_vector_env.py │ │ ├── normalization.py │ │ ├── sync_vector_env.py │ │ └── vector_env.py ├── evaluation.py └── networks │ ├── __init__.py │ ├── critics.py │ ├── layers.py │ ├── metrics.py │ ├── policies.py │ ├── trainer.py │ └── utils.py ├── scripts ├── sac_simba_dmc_em.sh ├── sac_simba_dmc_hard.sh ├── sac_simba_hbench.sh └── sac_simba_myosuite.sh └── setup.py /.github/workflows/pre-commit.yml: -------------------------------------------------------------------------------- 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