├── .gitignore ├── LICENSE ├── README.md ├── conda_env.yml ├── diffusion_reward ├── configs │ ├── models │ │ ├── codec_models │ │ │ └── vqgan │ │ │ │ ├── dataset │ │ │ │ ├── adroit.yaml │ │ │ │ └── metaworld.yaml │ │ │ │ └── default.yaml │ │ └── video_models │ │ │ ├── videogpt │ │ │ ├── dataset │ │ │ │ ├── adroit.yaml │ │ │ │ └── metaworld.yaml │ │ │ └── default.yaml │ │ │ └── vqdiffusion │ │ │ ├── dataset │ │ │ ├── adroit.yaml │ │ │ └── metaworld.yaml │ │ │ └── default.yaml │ └── rl │ │ ├── agent │ │ └── drqv2.yaml │ │ ├── default.yaml │ │ ├── reward │ │ ├── amp.yaml │ │ ├── diffusion_reward.yaml │ │ ├── expl_reward │ │ │ └── rnd.yaml │ │ ├── rnd.yaml │ │ └── viper.yaml │ │ └── task │ │ ├── assembly-v2.yaml │ │ ├── door-v0.yaml │ │ ├── hammer-v0.yaml │ │ └── pen-v0.yaml ├── envs │ ├── __init__.py │ ├── adroit.py │ ├── metaworld.py │ └── wrapper.py ├── models │ ├── codec_models │ │ └── vqgan │ │ │ ├── README.md │ │ │ ├── codebook.py │ │ │ ├── decoder.py │ │ │ ├── discriminator.py │ │ │ ├── encoder.py │ │ │ ├── helper.py │ │ │ ├── lpips.py │ │ │ ├── utils.py │ │ │ └── vqgan.py │ ├── reward_models │ │ ├── __init__.py │ │ ├── amp.py │ │ ├── diffusion_reward.py │ │ ├── expl_rewards │ │ │ └── rnd.py │ │ ├── rnd.py │ │ ├── statistics │ │ │ ├── diffusion_reward │ │ │ │ ├── entropy │ │ │ │ │ ├── adroit.yaml │ │ │ │ │ └── metaworld.yaml │ │ │ │ └── likelihood │ │ │ │ │ ├── adroit.yaml │ │ │ │ │ └── metaworld.yaml │ │ │ └── viper │ │ │ │ ├── entropy │ │ │ │ ├── adroit.yaml │ │ │ │ └── metaworld.yaml │ │ │ │ └── likelihood │ │ │ │ ├── adroit.yaml │ │ │ │ └── metaworld.yaml │ │ └── viper.py │ └── video_models │ │ ├── videogpt │ │ ├── README.md │ │ ├── helper.py │ │ ├── mingpt.py │ │ ├── transformer.py │ │ └── utils.py │ │ └── vqdiffusion │ │ ├── README.md │ │ ├── data │ │ ├── build.py │ │ └── dataset.py │ │ ├── distributed │ │ ├── distributed.py │ │ └── launch.py │ │ ├── engine │ │ ├── clip_grad_norm.py │ │ ├── ema.py │ │ ├── logger.py │ │ ├── lr_scheduler.py │ │ └── solver.py │ │ ├── modeling │ │ ├── build.py │ │ ├── codecs │ │ │ ├── base_codec.py │ │ │ └── image_codec │ │ │ │ └── vqgan.py │ │ ├── embeddings │ │ │ ├── base_embedding.py │ │ │ ├── dalle_mask_image_embedding.py │ │ │ └── frame_embedding.py │ │ ├── models │ │ │ └── frame_conditional_dalle.py │ │ ├── transformers │ │ │ ├── diffusion_transformer.py │ │ │ └── transformer_utils.py │ │ └── utils │ │ │ └── misc.py │ │ └── utils │ │ ├── io.py │ │ └── misc.py └── rl │ └── drqv2 │ ├── agent.py │ ├── logger.py │ ├── replay_buffer.py │ ├── utils.py │ └── video.py ├── docs └── diffusion_reward_overview.png ├── env_dependencies ├── mj_envs │ ├── LICENSE │ ├── README.md │ ├── dependencies │ │ └── Adroit │ │ │ ├── Adroit_hand.xml │ │ │ ├── Adroit_hand_withOverlay.xml │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── gallery │ │ │ ├── news.JPG │ │ │ └── projects.JPG │ │ │ └── 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 │ ├── mj_envs │ │ ├── __init__.py │ │ ├── hand_manipulation_suite │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ ├── DAPG_Adroit.xml │ │ │ │ ├── DAPG_assets.xml │ │ │ │ ├── DAPG_door.xml │ │ │ │ ├── DAPG_hammer.xml │ │ │ │ ├── DAPG_pen.xml │ │ │ │ ├── DAPG_relocate.xml │ │ │ │ └── tasks.jpg │ │ │ ├── door_v0.py │ │ │ ├── hammer_v0.py │ │ │ ├── pen_v0.py │ │ │ └── relocate_v0.py │ │ └── utils │ │ │ ├── quatmath.py │ │ │ └── visualize_env.py │ └── setup.py └── mjrl │ ├── LICENSE │ ├── README.md │ ├── examples │ ├── README.md │ ├── behavior_clone.py │ ├── example_configs │ │ ├── hopper_npg.txt │ │ ├── swimmer_npg.txt │ │ └── swimmer_ppo.txt │ ├── linear_nn_comparison.py │ └── policy_opt_job_script.py │ ├── mjrl │ ├── __init__.py │ ├── algos │ │ ├── __init__.py │ │ ├── batch_reinforce.py │ │ ├── behavior_cloning.py │ │ ├── dapg.py │ │ ├── mbac.py │ │ ├── model_accel │ │ │ ├── __init__.py │ │ │ ├── model_accel_npg.py │ │ │ ├── model_learning_mpc.py │ │ │ ├── nn_dynamics.py │ │ │ ├── run_experiments │ │ │ │ ├── configs │ │ │ │ │ ├── point_mass.txt │ │ │ │ │ └── reacher.txt │ │ │ │ ├── run_model_accel_npg.py │ │ │ │ ├── sandbox │ │ │ │ │ ├── example_config_mpc.txt │ │ │ │ │ └── run_model_learning_mpc.py │ │ │ │ └── utils │ │ │ │ │ ├── reward_functions │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── mjrl_point_mass.py │ │ │ │ │ ├── visualize_policy.py │ │ │ │ │ └── visualize_trajectories.py │ │ │ └── sampling.py │ │ ├── npg_cg.py │ │ ├── ppo_clip.py │ │ └── trpo.py │ ├── baselines │ │ ├── __init__.py │ │ ├── linear_baseline.py │ │ ├── mlp_baseline.py │ │ ├── quadratic_baseline.py │ │ └── zero_baseline.py │ ├── envs │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── peg_insertion.xml │ │ │ ├── point_mass.xml │ │ │ ├── sawyer.xml │ │ │ └── swimmer.xml │ │ ├── mujoco_env.py │ │ ├── peg_insertion_sawyer.py │ │ ├── point_mass.py │ │ ├── reacher_sawyer.py │ │ └── swimmer.py │ ├── policies │ │ ├── __init__.py │ │ ├── gaussian_linear.py │ │ ├── gaussian_mlp.py │ │ └── mpc_actor.py │ ├── samplers │ │ ├── __init__.py │ │ └── core.py │ └── utils │ │ ├── __init__.py │ │ ├── cg_solve.py │ │ ├── fc_network.py │ │ ├── get_environment.py │ │ ├── gym_env.py │ │ ├── logger.py │ │ ├── make_train_plots.py │ │ ├── optimize_model.py │ │ ├── plot_from_logs.py │ │ ├── process_samples.py │ │ ├── tensor_utils.py │ │ ├── train_agent.py │ │ └── visualize_policy.py │ ├── setup.py │ ├── setup │ ├── README.md │ └── env.yml │ └── tests │ ├── hydra │ ├── config │ │ └── hydra_npg_config.yaml │ └── hydra_policy_opt_job_script.py │ ├── point_mass_test.py │ └── visualizer_test.py ├── scripts ├── run │ ├── codec_model │ │ ├── vqgan_adroit.sh │ │ └── vqgan_metaworld.sh │ ├── rl │ │ ├── drqv2_adroit_amp.sh │ │ ├── drqv2_adroit_diffusion_reward.sh │ │ ├── drqv2_adroit_raw_sparse_reward.sh │ │ ├── drqv2_adroit_rnd.sh │ │ ├── drqv2_adroit_viper.sh │ │ ├── drqv2_adroit_viper_std.sh │ │ ├── drqv2_metaworld_amp.sh │ │ ├── drqv2_metaworld_diffusion_reward.sh │ │ ├── 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