├── .gitattributes ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE.txt ├── README.md ├── assets ├── assets_v2 │ ├── objects │ │ ├── assembly_peg.xml │ │ ├── assets │ │ │ ├── assembly_peg.xml │ │ │ ├── assembly_peg_dependencies.xml │ │ │ ├── basketball.xml │ │ │ ├── basketball_dependencies.xml │ │ │ ├── basketballhoop.xml │ │ │ ├── binA.xml │ │ │ ├── binB.xml │ │ │ ├── bin_dependencies.xml │ │ │ ├── block.xml │ │ │ ├── block_cyl.xml │ │ │ ├── block_dependencies.xml │ │ │ ├── box.xml │ │ │ ├── box_dependencies.xml │ │ │ ├── boxtop.xml │ │ │ ├── buttonbox.xml │ │ │ ├── buttonbox_dependencies.xml │ │ │ ├── club.xml │ │ │ ├── club_dependencies.xml │ │ │ ├── coffeemachine.xml │ │ │ ├── coffeemachine_dependencies.xml │ │ │ ├── dial.xml │ │ │ ├── dial_dependencies.xml │ │ │ ├── doorlockA.xml │ │ │ ├── doorlockB.xml │ │ │ ├── doorlock_dependencies.xml │ │ │ ├── drawer.xml │ │ │ ├── drawer_dependencies.xml │ │ │ ├── faucet.xml │ │ │ ├── faucet_dependencies.xml │ │ │ ├── hammer.xml │ │ │ ├── hammer_dependencies.xml │ │ │ ├── hammerblock.xml │ │ │ ├── handle_press.xml │ │ │ ├── handle_press_dependencies.xml │ │ │ ├── laptop.xml │ │ │ ├── laptop_dependencies.xml │ │ │ ├── lever.xml │ │ │ ├── lever_dependencies.xml │ │ │ ├── mug.xml │ │ │ ├── objA.xml │ │ │ ├── peg_block.xml │ │ │ ├── peg_block_dependencies.xml │ │ │ ├── peg_insert.xml │ │ │ ├── peg_insert_dependencies.xml │ │ │ ├── plug.xml │ │ │ ├── plug_dependencies.xml │ │ │ ├── plug_wall.xml │ │ │ ├── plug_wall_dependencies.xml │ │ │ ├── puck.xml │ │ │ ├── puck_goal.xml │ │ │ ├── puck_goal_dependencies.xml │ │ │ ├── shelf.xml │ │ │ ├── shelf_dependencies.xml │ │ │ ├── shelfb.xml │ │ │ ├── shelfb_dependencies.xml │ │ │ ├── soccer_ball.xml │ │ │ ├── soccer_dependencies.xml │ │ │ ├── soccer_goal.xml │ │ │ ├── stick.xml │ │ │ ├── stick_dependencies.xml │ │ │ ├── table.xml │ │ │ ├── table_dependencies.xml │ │ │ ├── table_hole.xml │ │ │ ├── thermos.xml │ │ │ ├── thermos_dependencies.xml │ │ │ ├── wall.xml │ │ │ ├── wall_dependencies.xml │ │ │ ├── window.xml │ │ │ ├── window_dependencies.xml │ │ │ ├── window_horiz.xml │ │ │ ├── xyz_base.xml │ │ │ └── xyz_base_dependencies.xml │ │ ├── basketball.xml │ │ ├── basketballhoop.xml │ │ ├── binA.xml │ │ ├── binB.xml │ │ ├── block.xml │ │ ├── block_cyl.xml │ │ ├── box.xml │ │ ├── buttonbox.xml │ │ ├── club.xml │ │ ├── coffeemachine.xml │ │ ├── dial.xml │ │ ├── doorlockA.xml │ │ ├── doorlockB.xml │ │ ├── drawer.xml │ │ ├── faucet.xml │ │ ├── hammer.xml │ │ ├── hammerblock.xml │ │ ├── handle_press.xml │ │ ├── laptop.xml │ │ ├── lever.xml │ │ ├── meshes │ │ │ ├── assembly_peg │ │ │ │ ├── assembly_peg_handle.stl │ │ │ │ ├── assembly_peg_ring.stl │ │ │ │ └── assembly_peg_rod.stl │ │ │ ├── basketball │ │ │ │ ├── backboard.stl │ │ │ │ ├── backboardsquareinner.stl │ │ │ │ ├── backboardsquareouter.stl │ │ │ │ ├── basketballinner.stl │ │ │ │ ├── basketballouter.stl │ │ │ │ ├── hoop.stl │ │ │ │ └── pole.stl │ │ │ ├── bin │ │ │ │ └── bin.stl │ │ │ ├── block │ │ │ │ └── block.stl │ │ │ ├── box │ │ │ │ ├── boxhandle.stl │ │ │ │ └── boxtop.stl │ │ │ ├── buttonbox │ │ │ │ ├── button.stl │ │ │ │ ├── buttonring.stl │ │ │ │ ├── stopbot.stl │ │ │ │ ├── stopbutton.stl │ │ │ │ ├── stopbuttonrim.stl │ │ │ │ ├── stopbuttonrod.stl │ │ │ │ └── stoptop.stl │ │ │ ├── coffeemachine │ │ │ │ ├── body1.stl │ │ │ │ ├── body2.stl │ │ │ │ ├── bodypiece1.stl │ │ │ │ ├── bodypiece2.stl │ │ │ │ ├── bodypiece3.stl │ │ │ │ ├── button.stl │ │ │ │ ├── buttonring.stl │ │ │ │ ├── cup.stl │ │ │ │ ├── handle.stl │ │ │ │ ├── mug.stl │ │ │ │ ├── spout.stl │ │ │ │ └── spoutconnect.stl │ │ │ ├── dial │ │ │ │ ├── dial.stl │ │ │ │ └── dialhead.stl │ │ │ ├── doorlock │ │ │ │ ├── door.stl │ │ │ │ ├── door_handle.stl │ │ │ │ ├── handle.stl │ │ │ │ ├── handle_base.stl │ │ │ │ ├── lock.stl │ │ │ │ ├── lock_base.stl │ │ │ │ └── safe.stl │ │ │ ├── drawer │ │ │ │ ├── drawer.stl │ │ │ │ ├── drawercase.stl │ │ │ │ ├── drawerhandle.obj │ │ │ │ └── drawerhandle.stl │ │ │ ├── faucet │ │ │ │ ├── faucetbase.stl │ │ │ │ ├── faucethandle1.stl │ │ │ │ └── faucethead.stl │ │ │ ├── golf_club │ │ │ │ ├── club_handle.stl │ │ │ │ ├── club_head.stl │ │ │ │ └── club_tape.stl │ │ │ ├── hammer │ │ │ │ ├── hammerblock.stl │ │ │ │ ├── hammerhandle.stl │ │ │ │ ├── hammerhead.stl │ │ │ │ └── nail.stl │ │ │ ├── handle_press │ │ │ │ ├── handle_press_base.stl │ │ │ │ ├── handle_press_col1.stl │ │ │ │ ├── handle_press_col2.stl │ │ │ │ ├── handle_press_col3.stl │ │ │ │ ├── handle_press_grip.stl │ │ │ │ ├── handle_press_lever.stl │ │ │ │ └── handle_press_trim.stl │ │ │ ├── laptop │ │ │ │ ├── laptop_base.stl │ │ │ │ ├── laptop_hinge.stl │ │ │ │ ├── laptop_keys.stl │ │ │ │ ├── laptop_screen.stl │ │ │ │ └── laptop_top.stl │ │ │ ├── lever │ │ │ │ ├── lever_axis.stl │ │ │ │ ├── lever_base.stl │ │ │ │ ├── lever_handle.stl │ │ │ │ ├── lever_rod.stl │ │ │ │ └── lever_rodbase.stl │ │ │ ├── peg_block │ │ │ │ ├── block_inner.stl │ │ │ │ └── block_outer.stl │ │ │ ├── plug │ │ │ │ ├── plug.stl │ │ │ │ ├── plug_head.stl │ │ │ │ ├── plug_plastic.stl │ │ │ │ └── plug_wall.stl │ │ │ ├── puck │ │ │ │ ├── goal_net.stl │ │ │ │ ├── goal_rim.stl │ │ │ │ ├── net1_col.stl │ │ │ │ ├── net2_col.stl │ │ │ │ ├── net3_col.stl │ │ │ │ ├── net4_col.stl │ │ │ │ └── puck.stl │ │ │ ├── shelf │ │ │ │ ├── shelf.stl │ │ │ │ └── shelf_supports.stl │ │ │ ├── shelfb │ │ │ │ ├── shelf_0.stl │ │ │ │ ├── shelf_1.stl │ │ │ │ └── shelf_frame.stl │ │ │ ├── soccer │ │ │ │ ├── goal_col1.stl │ │ │ │ ├── goal_col2.stl │ │ │ │ ├── goal_col3.stl │ │ │ │ ├── goal_col4.stl │ │ │ │ ├── soccer_black.stl │ │ │ │ ├── soccer_frame.stl │ │ │ │ ├── soccer_net.stl │ │ │ │ └── soccer_white.stl │ │ │ ├── stick │ │ │ │ └── stick.stl │ │ │ ├── table │ │ │ │ ├── table_hole.stl │ │ │ │ ├── table_hole2.stl │ │ │ │ ├── tablebody.stl │ │ │ │ └── tabletop.stl │ │ │ ├── thermos │ │ │ │ ├── therm_base.stl │ │ │ │ ├── therm_body.stl │ │ │ │ ├── therm_cap.stl │ │ │ │ ├── therm_handle.stl │ │ │ │ └── therm_trim.stl │ │ │ ├── window │ │ │ │ ├── window_base.stl │ │ │ │ ├── window_frame.stl │ │ │ │ ├── window_h_base.stl │ │ │ │ ├── window_h_frame.stl │ │ │ │ ├── windowa_frame.stl │ │ │ │ ├── windowa_glass.stl │ │ │ │ ├── windowa_h_frame.stl │ │ │ │ ├── windowa_h_glass.stl │ │ │ │ ├── windowb_frame.stl │ │ │ │ ├── windowb_glass.stl │ │ │ │ ├── windowb_h_frame.stl │ │ │ │ └── windowb_h_glass.stl │ │ │ └── xyz_base │ │ │ │ ├── base.stl │ │ │ │ ├── eGripperBase.stl │ │ │ │ ├── head.stl │ │ │ │ ├── l0.stl │ │ │ │ ├── l1.stl │ │ │ │ ├── l2.stl │ │ │ │ ├── l3.stl │ │ │ │ ├── l4.stl │ │ │ │ ├── l5.stl │ │ │ │ ├── l6.stl │ │ │ │ └── pedestal.stl │ │ ├── mug.xml │ │ ├── objA.xml │ │ ├── peg_block.xml │ │ ├── peg_insert.xml │ │ ├── plug.xml │ │ ├── plug_wall.xml │ │ ├── puck.xml │ │ ├── puck_goal.xml │ │ ├── shelf.xml │ │ ├── shelfb.xml │ │ ├── soccer_ball.xml │ │ ├── soccer_goal.xml │ │ ├── sphere.xml │ │ ├── stick.xml │ │ ├── table.xml │ │ ├── table_hole.xml │ │ ├── thermos.xml │ │ ├── wall.xml │ │ ├── window.xml │ │ ├── window_horiz.xml │ │ └── xyz_base.xml │ ├── sawyer_xyz │ │ ├── sawyer_assembly_peg.xml │ │ ├── sawyer_basketball.xml │ │ ├── sawyer_bin_picking.xml │ │ ├── sawyer_box.xml │ │ ├── sawyer_button_press.xml │ │ ├── sawyer_button_press_topdown.xml │ │ ├── sawyer_button_press_topdown_wall.xml │ │ ├── sawyer_button_press_wall.xml │ │ ├── sawyer_coffee.xml │ │ ├── sawyer_dial.xml │ │ ├── sawyer_door_lock.xml │ │ ├── sawyer_door_pull.xml │ │ ├── sawyer_drawer.xml │ │ ├── sawyer_faucet.xml │ │ ├── sawyer_hammer.xml │ │ ├── sawyer_handle_press.xml │ │ ├── sawyer_handle_press_sideways.xml │ │ ├── sawyer_laptop.xml │ │ ├── sawyer_lever_pull.xml │ │ ├── sawyer_peg_insertion_side.xml │ │ ├── sawyer_peg_unplug_side.xml │ │ ├── sawyer_pick_and_place.xml │ │ ├── sawyer_pick_out_of_hole.xml │ │ ├── sawyer_pick_place_v2.xml │ │ ├── sawyer_pick_place_wall_v2.xml │ │ ├── sawyer_plate_slide.xml │ │ ├── sawyer_plate_slide_sideway.xml │ │ ├── sawyer_push_back_v2.xml │ │ ├── sawyer_push_v2.xml │ │ ├── sawyer_push_wall_v2.xml │ │ ├── sawyer_reach_push_pick_and_place.xml │ │ ├── sawyer_reach_push_pick_and_place_wall.xml │ │ ├── sawyer_reach_v2.xml │ │ ├── sawyer_reach_wall_v2.xml │ │ ├── sawyer_shelf_placing.xml │ │ ├── sawyer_shelf_removing.xml │ │ ├── sawyer_soccer.xml │ │ ├── sawyer_stick_obj.xml │ │ ├── sawyer_sweep_tool.xml │ │ ├── sawyer_sweep_v2.xml │ │ ├── sawyer_table_with_hole.xml │ │ ├── sawyer_table_with_hole_no_puck.xml │ │ ├── sawyer_window.xml │ │ └── sawyer_window_horizontal.xml │ ├── scene │ │ ├── basic_scene.xml │ │ ├── basic_scene_b.xml │ │ ├── basic_scene_c.xml │ │ └── textures │ │ │ ├── fabricPattern.png │ │ │ ├── fabricPlain.png │ │ │ ├── height1.png │ │ │ ├── metal.png │ │ │ ├── metal1.png │ │ │ ├── plaster.png │ │ │ ├── white_marble_tile.png │ │ │ ├── white_marble_tile2.png │ │ │ ├── wood.png │ │ │ └── wood2.png │ ├── textures │ │ ├── brick1.png │ │ ├── darkwood.png │ │ ├── floor1.png │ │ ├── floor2.png │ │ ├── granite.png │ │ ├── light_wood.png │ │ ├── light_wood_v2.png │ │ ├── light_wood_v3.jpeg │ │ ├── light_wood_v3.png │ │ ├── marble.png │ │ ├── metal.png │ │ ├── metal1.png │ │ ├── metal2.png │ │ ├── navy_blue.png │ │ ├── plaster1.png │ │ ├── real_door.png │ │ ├── tennis.png │ │ ├── wood.png │ │ ├── wood1.png │ │ ├── wood2.png │ │ ├── wood3.png │ │ ├── wood4.png │ │ └── wood_light.png │ └── unified_objects │ │ ├── assembly_peg.xml │ │ ├── basket_hoop.xml │ │ ├── basketball.xml │ │ ├── binA.xml │ │ ├── binB.xml │ │ ├── bin_picking_objA.xml │ │ ├── block.xml │ │ ├── box_close_box.xml │ │ ├── box_close_box_top.xml │ │ ├── buttonbox.xml │ │ ├── coffee.xml │ │ ├── cylinder.xml │ │ ├── dial.xml │ │ ├── doorlockA.xml │ │ ├── doorlockB.xml │ │ ├── drawer.xml │ │ ├── faucet.xml │ │ ├── hammer.xml │ │ ├── hammer_block.xml │ │ ├── handle_press.xml │ │ ├── lever.xml │ │ ├── mug.xml │ │ ├── peg.xml │ │ ├── peg_block.xml │ │ ├── pick_out_of_hole_cylinder.xml │ │ ├── pick_out_of_hole_table.xml │ │ ├── plug.xml │ │ ├── plug_wall.xml │ │ ├── puck.xml │ │ ├── puck_goal.xml │ │ ├── push_back_box.xml │ │ ├── push_cylinder.xml │ │ ├── push_wall.xml │ │ ├── round_nut.xml │ │ ├── sawyer.xml │ │ ├── shelf.xml │ │ ├── shelf_box.xml │ │ ├── soccer_ball.xml │ │ ├── soccer_goal.xml │ │ ├── stick.xml │ │ ├── stick_l.xml │ │ ├── table.xml │ │ ├── table_with_hole.xml │ │ ├── thermos.xml │ │ ├── wall.xml │ │ └── window_horiz.xml ├── mjcf │ └── open_ai_assets │ │ ├── hand │ │ ├── egg.xml │ │ ├── pen.xml │ │ ├── robot.xml │ │ ├── shadow_hand.xml │ │ ├── shared.xml │ │ └── shared_asset.xml │ │ └── stls │ │ └── hand │ │ ├── F1.stl │ │ ├── F2.stl │ │ ├── F3.stl │ │ ├── TH1_z.stl │ │ ├── TH2_z.stl │ │ ├── TH3_z.stl │ │ ├── forearm_electric.stl │ │ ├── forearm_electric_cvx.stl │ │ ├── knuckle.stl │ │ ├── lfmetacarpal.stl │ │ ├── palm.stl │ │ └── wrist.stl └── urdf │ ├── cartpole.urdf │ ├── franka_description │ ├── meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── finger.stl │ │ │ ├── hand.obj │ │ │ ├── hand.stl │ │ │ ├── link0.obj │ │ │ ├── link0.stl │ │ │ ├── link1.obj │ │ │ ├── link1.stl │ │ │ ├── link2.obj │ │ │ ├── link2.stl │ │ │ ├── link3.obj │ │ │ ├── link3.stl │ │ │ ├── link4.obj │ │ │ ├── link4.stl │ │ │ ├── link5.obj │ │ │ ├── link5.stl │ │ │ ├── link6.obj │ │ │ ├── link6.stl │ │ │ ├── link7.obj │ │ │ ├── link7.stl │ │ │ ├── stltoobj.bat │ │ │ └── stltoobj.mlx │ │ └── visual │ │ │ ├── daetoobj.bat │ │ │ ├── daetoobj.mlx │ │ │ ├── finger.dae │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.dae │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link0.dae │ │ │ ├── link0.mtl │ │ │ ├── link0.obj │ │ │ ├── link1.dae │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.dae │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.dae │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.dae │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.dae │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.dae │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ ├── link7.dae │ │ │ ├── link7.mtl │ │ │ └── link7.obj │ └── robots │ │ ├── franka_panda.urdf │ │ └── franka_panda_gripper.urdf │ ├── go1 │ ├── meshes │ │ ├── calf.dae │ │ ├── calf.stl │ │ ├── depthCamera.dae │ │ ├── hip.dae │ │ ├── hip.stl │ │ ├── thigh.dae │ │ ├── thigh.stl │ │ ├── thigh_mirror.dae │ │ ├── thigh_mirror.stl │ │ ├── trunk.dae │ │ ├── trunk.stl │ │ └── ultraSound.dae │ └── robots │ │ └── go1_with_camera.urdf │ └── objects │ ├── cube_multicolor.urdf │ └── meshes │ └── cube_multicolor.obj ├── download.py ├── exec ├── fast_td3_exps │ ├── mt10-rand │ │ ├── simba_v2.sh │ │ └── vanilla.sh │ └── mt50-rand │ │ ├── simba_v2.sh │ │ └── vanilla.sh ├── go1_exps │ ├── easy │ │ ├── ppo_go1_cagrad.sh │ │ ├── ppo_go1_famo.sh │ │ ├── ppo_go1_moore.sh │ │ ├── ppo_go1_multihead.sh │ │ ├── ppo_go1_paco.sh │ │ ├── ppo_go1_pcgrad.sh │ │ ├── ppo_go1_soft-modularization.sh │ │ └── ppo_go1_vanilla.sh │ ├── flat │ │ ├── ppo_go1_moore.sh │ │ ├── ppo_go1_multihead.sh │ │ ├── ppo_go1_paco.sh │ │ ├── ppo_go1_soft-module.sh │ │ └── ppo_go1_vanilla.sh │ ├── hard │ │ ├── ppo_go1_cagrad.sh │ │ ├── ppo_go1_famo.sh │ │ ├── ppo_go1_moore.sh │ │ ├── ppo_go1_multihead.sh │ │ ├── ppo_go1_paco.sh │ │ ├── ppo_go1_pcgrad.sh │ │ ├── ppo_go1_soft-modularization.sh │ │ └── ppo_go1_vanilla.sh │ └── hard_cl │ │ ├── ppo_go1_cagrad.sh │ │ ├── ppo_go1_famo.sh │ │ ├── ppo_go1_moore.sh │ │ ├── ppo_go1_multihead.sh │ │ ├── ppo_go1_paco.sh │ │ ├── ppo_go1_pcgrad.sh │ │ ├── ppo_go1_soft-modularization.sh │ │ └── ppo_go1_vanilla.sh ├── grpo_exps │ ├── mt10-rand │ │ ├── famo.sh │ │ └── vanilla.sh │ └── mt50-rand │ │ └── vanilla.sh ├── meta-learning │ └── ppo_reptile.sh ├── ppo_exps │ ├── batch_scaling │ │ ├── vanilla_mt50.sh │ │ ├── vanilla_mt50_b.sh │ │ ├── vanilla_mt50_c.sh │ │ ├── vanilla_mt50_d.sh │ │ └── vanilla_mt50_e.sh │ ├── go1_easy │ │ ├── ppo_go1_cagrad.sh │ │ ├── ppo_go1_famo.sh │ │ ├── ppo_go1_mt.sh │ │ └── ppo_go1_multihead.sh │ ├── go1_easy_small │ │ ├── ppo_go1_cagrad.sh │ │ ├── ppo_go1_care.sh │ │ ├── ppo_go1_famo.sh │ │ ├── ppo_go1_moore.sh │ │ ├── ppo_go1_mt.sh │ │ ├── ppo_go1_multihead.sh │ │ ├── ppo_go1_paco.sh │ │ ├── ppo_go1_soft_modularization.sh │ │ ├── ppo_go1_vanilla.sh │ │ ├── ppo_go1_vanilla_energy.sh │ │ ├── ppo_go1_vanilla_old.sh │ │ └── ppo_go1_vanilla_single.sh │ ├── go1_hard │ │ ├── ppo_go1_mt.sh │ │ ├── ppo_go1_multihead.sh │ │ └── ppo_go1_soft_modularization.sh │ ├── go1_hard_cl │ │ ├── ppo_go1_cagrad.sh │ │ ├── ppo_go1_famo.sh │ │ ├── ppo_go1_mt.sh │ │ ├── ppo_go1_mt_multihead.sh │ │ ├── ppo_go1_pcgrad.sh │ │ └── ppo_go1_soft_modularization.sh │ ├── go1_single │ │ ├── ppo_go1_1.sh │ │ ├── ppo_go1_2.sh │ │ ├── ppo_go1_flat.sh │ │ └── ppo_go1_mt.sh │ ├── mt10-rand │ │ ├── cagrad.sh │ │ ├── famo.sh │ │ ├── mh_care.sh │ │ ├── mh_moore.sh │ │ ├── multihead.sh │ │ ├── pcgrad.sh │ │ ├── sh_care.sh │ │ ├── sh_moore.sh │ │ ├── sh_paco.sh │ │ ├── soft_modularization.sh │ │ └── vanilla.sh │ ├── mt10 │ │ ├── cagrad.sh │ │ ├── famo.sh │ │ ├── mh_care.sh │ │ ├── mh_moore.sh │ │ ├── multihead.sh │ │ ├── pcgrad.sh │ │ ├── sh_care.sh │ │ ├── sh_moore.sh │ │ ├── sh_paco.sh │ │ ├── soft_modularization.sh │ │ └── vanilla.sh │ ├── mt50-rand │ │ ├── cagrad.sh │ │ ├── famo.sh │ │ ├── mh_care.sh │ │ ├── mh_moore.sh │ │ ├── multihead.sh │ │ ├── pcgrad.sh │ │ ├── sh_care.sh │ │ ├── sh_moore.sh │ │ ├── sh_paco.sh │ │ ├── soft_modularization.sh │ │ └── vanilla.sh │ ├── mt50 │ │ ├── cagrad.sh │ │ ├── famo.sh │ │ ├── mh_care.sh │ │ ├── mh_moore.sh │ │ ├── multihead.sh │ │ ├── pcgrad.sh │ │ ├── sh_care.sh │ │ ├── sh_moore.sh │ │ ├── sh_paco.sh │ │ ├── soft_modularization.sh │ │ └── vanilla.sh │ ├── ppo_go1_1.sh │ ├── ppo_go1_2.sh │ ├── ppo_go1_test.sh │ ├── ppo_go1_test_easy.sh │ ├── ppo_go1_test_single.sh │ ├── ppo_go1_test_wc.sh │ └── scaling │ │ ├── bro.sh │ │ ├── simba_v2.sh │ │ ├── simba_v2_mt50.sh │ │ ├── simba_v2_te_mt50.sh │ │ ├── vanilla.sh │ │ ├── vanilla_single.sh │ │ └── vanilla_te_mt50.sh ├── pqn_exps │ └── mt10_rand │ │ ├── pq_soft_modularization.sh │ │ └── pqn.sh └── sac_exps │ ├── mt10_rand │ ├── sac.sh │ ├── sac_b.sh │ ├── sac_best.sh │ ├── sac_c.sh │ └── sac_soft_modularization.sh │ └── mt50_rand │ └── sac.sh ├── isaacgymenvs ├── __init__.py ├── cfg │ ├── config.yaml │ ├── task │ │ ├── ShadowHand.yaml │ │ ├── env │ │ │ ├── regrasping.yaml │ │ │ ├── reorientation.yaml │ │ │ └── throw.yaml │ │ ├── final_go1_easy.yaml │ │ ├── final_go1_hard.yaml │ │ ├── final_go1_hard_cl.yaml │ │ ├── final_go1_test.yaml │ │ ├── meta-world-discrete-v2.yaml │ │ ├── meta-world-ml-one.yaml │ │ └── meta-world-v2.yaml │ └── train │ │ ├── CartpolePPO.yaml │ │ ├── CartpolePQN.yaml │ │ ├── ShadowHandPPO.yaml │ │ ├── ShadowHandTD3.yaml │ │ ├── go1-PPO-CAGrad.yaml │ │ ├── go1-PPO-FAMO.yaml │ │ ├── go1-PPO-Multihead.yaml │ │ ├── go1-PPO-PCGrad.yaml │ │ ├── go1-PPO-Vanilla.yaml │ │ ├── go1-mt-care-SHPPO.yaml │ │ ├── go1-mt-moore-SHPPO.yaml │ │ ├── go1-mt-paco-SHPPO.yaml │ │ ├── go1-mt-soft-modularization.yaml │ │ ├── meta-world-MAMLPPO.yaml │ │ ├── meta-world-ML-ReptilePPO.yaml │ │ ├── meta-world-PPO.yaml │ │ ├── meta-world-cagrad-SAC.yaml │ │ ├── meta-world-go1-PPO-Vanilla_old.yaml │ │ ├── meta-world-mt-PPO-go1.yaml │ │ ├── meta-world-mt-PPO_play.yaml │ │ ├── meta-world-mt-PQ.yaml │ │ ├── meta-world-mt-SAC.yaml │ │ ├── meta-world-mt-fast-TD3.yaml │ │ ├── meta-world-mt-moore-SAC.yaml │ │ ├── meta-world-mt-soft-modularization-PPO.yaml │ │ ├── meta-world-mt-soft-modularization-PQ.yaml │ │ ├── meta-world-mt-soft-modularization-SAC.yaml │ │ ├── meta-world-mt10-bro-PPO.yaml │ │ ├── meta-world-mt10-cagrad-PPO.yaml │ │ ├── meta-world-mt10-care-MHPPO.yaml │ │ ├── meta-world-mt10-care-SHPPO.yaml │ │ ├── meta-world-mt10-famo-GRPO.yaml │ │ ├── meta-world-mt10-famo-PPO.yaml │ │ ├── meta-world-mt10-fast-TD3-simba-v2.yaml │ │ ├── meta-world-mt10-moore-MHPPO.yaml │ │ ├── meta-world-mt10-moore-SHPPO.yaml │ │ ├── meta-world-mt10-paco-SHPPO.yaml │ │ ├── meta-world-mt10-pcgrad-PPO.yaml │ │ ├── meta-world-mt10-simba-v2-PPO.yaml │ │ ├── meta-world-mt10-vanilla-GRPO.yaml │ │ ├── meta-world-mt10-vanilla-MHPPO.yaml │ │ ├── meta-world-mt10-vanilla-PPO.yaml │ │ ├── meta-world-mt10-vanilla-asymmetric-PPO.yaml │ │ ├── meta-world-mt50-cagrad-PPO.yaml │ │ ├── meta-world-mt50-care-MHPPO.yaml │ │ ├── meta-world-mt50-care-SHPPO.yaml │ │ ├── meta-world-mt50-famo-GRPO.yaml │ │ ├── meta-world-mt50-famo-PPO.yaml │ │ ├── meta-world-mt50-fast-TD3-simba-v2.yaml │ │ ├── meta-world-mt50-moore-MHPPO.yaml │ │ ├── meta-world-mt50-moore-SHPPO.yaml │ │ ├── meta-world-mt50-paco-SHPPO.yaml │ │ ├── meta-world-mt50-pcgrad-PPO.yaml │ │ ├── meta-world-mt50-simba-v2-PPO.yaml │ │ ├── meta-world-mt50-vanilla-GRPO.yaml │ │ ├── meta-world-mt50-vanilla-MHPPO.yaml │ │ ├── meta-world-mt50-vanilla-PPO.yaml │ │ ├── meta-world-mt50-vanilla-asymmetric-PPO.yaml │ │ ├── meta-world-mt50-vanilla-asymmetric2-PPO.yaml │ │ ├── meta-world-pqn.yaml │ │ └── meta-world-v2PPO.yaml ├── example.py ├── learning │ ├── __init__.py │ ├── common_agent.py │ ├── common_player.py │ ├── grad_mani.py │ ├── grpo_agent.py │ ├── ml_a2c_agent.py │ ├── mt_a2c_agent.py │ ├── mt_models.py │ ├── mt_player.py │ ├── mt_sac_agent.py │ ├── mt_sac_agent_gradmani.py │ ├── networks │ │ ├── __init__.py │ │ ├── asymmetric_a2c_builder.py │ │ ├── bro_a2c_builder.py │ │ ├── care_a2c_builder.py │ │ ├── grpo_builder.py │ │ ├── moe_layer.py │ │ ├── moore_a2c_builder.py │ │ ├── moore_sac_builder.py │ │ ├── multihead_a2c_builder.py │ │ ├── paco_a2c_builder.py │ │ ├── pq_builder.py │ │ ├── pq_network.py │ │ ├── simba_v2.py │ │ ├── simba_v2_a2c_builder.py │ │ ├── soft_modularization_a2c_builder.py │ │ ├── soft_modularization_sac_builder.py │ │ ├── soft_modularized_network.py │ │ ├── soft_modularized_pq_builder.py │ │ ├── td3_builder.py │ │ └── td3_simba_v2_builder.py │ ├── pqn_agent.py │ ├── replay │ │ ├── nstep_replay.py │ │ └── simple_replay.py │ ├── replay_buffer.py │ ├── td3_agent.py │ └── utils.py ├── metadata │ └── task_embedding │ │ └── roberta_small │ │ ├── metaworld-mt10.json │ │ └── metaworld-mt50.json ├── tasks │ ├── __init__.py │ ├── base │ │ ├── __init__.py │ │ └── vec_task.py │ ├── cartpole.py │ ├── franka │ │ └── vec_task │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── franka_base.py │ │ │ └── task_fns │ │ │ ├── __init__.py │ │ │ ├── assembly.py │ │ │ ├── basketball.py │ │ │ ├── bin_picking.py │ │ │ ├── box_close.py │ │ │ ├── button_press.py │ │ │ ├── button_press_topdown.py │ │ │ ├── button_press_topdown_wall.py │ │ │ ├── button_press_wall.py │ │ │ ├── coffee_button.py │ │ │ ├── coffee_pull.py │ │ │ ├── coffee_push.py │ │ │ ├── dial_turn.py │ │ │ ├── disassemble.py │ │ │ ├── door_close.py │ │ │ ├── door_lock.py │ │ │ ├── door_open.py │ │ │ ├── door_unlock.py │ │ │ ├── drawer_close.py │ │ │ ├── drawer_open.py │ │ │ ├── faucet_close.py │ │ │ ├── faucet_open.py │ │ │ ├── hammer.py │ │ │ ├── hand_insert.py │ │ │ ├── handle_press.py │ │ │ ├── handle_press_side.py │ │ │ ├── handle_pull.py │ │ │ ├── handle_pull_side.py │ │ │ ├── lever_pull.py │ │ │ ├── peg_insert_side.py │ │ │ ├── peg_unplug_side.py │ │ │ ├── pick_out_of_hole.py │ │ │ ├── pick_place.py │ │ │ ├── pick_place_wall.py │ │ │ ├── plate_slide.py │ │ │ ├── plate_slide_back.py │ │ │ ├── plate_slide_back_side.py │ │ │ ├── plate_slide_side.py │ │ │ ├── push.py │ │ │ ├── push_back.py │ │ │ ├── push_wall.py │ │ │ ├── reach.py │ │ │ ├── reach_wall.py │ │ │ ├── shelf_place.py │ │ │ ├── soccer.py │ │ │ ├── stick_pull.py │ │ │ ├── stick_push.py │ │ │ ├── sweep.py │ │ │ ├── sweep_into_goal.py │ │ │ ├── window_close.py │ │ │ └── window_open.py │ ├── locomotion │ │ ├── legged_base.py │ │ ├── set_terrains │ │ │ └── set_terrain_benchmark.py │ │ └── terrain_utils.py │ ├── reward_utils.py │ ├── shadow_hand.py │ └── utils │ │ ├── __init__.py │ │ ├── attr_dict.py │ │ ├── generate_cuboids.py │ │ └── math.py ├── train.py └── utils │ ├── __init__.py │ ├── dr_utils.py │ ├── reformat.py │ ├── rlgames_utils.py │ ├── rna_util.py │ ├── sb3_wrapper.py │ ├── torch_jit_utils.py │ └── utils.py ├── scripts ├── CI │ ├── plot_bootstrapped_stats.py │ └── plot_stratifed_bootstrapped_stats.py ├── batch_scaling │ ├── batch_scaling.py │ ├── final_success_rate_vs_time.pdf │ └── final_success_rate_vs_time.png ├── chinchilla │ ├── chinchilla.py │ ├── compute_vs_performance.pdf │ └── compute_vs_performance.png ├── extract_all_single_task.py ├── fast_td3 │ ├── fast_td3.py │ ├── fast_td3_efficiency.pdf │ └── fast_td3_efficiency.png ├── grpo │ ├── plot_grpo_vs_vanilla.py │ └── plot_success_as_envs_vary.py ├── misc_scripts │ ├── gather_grid_search_mt_sac.py │ ├── plot_famo_logs.py │ ├── plot_grad_mani_training.py │ ├── plot_mt_training_famo_wo_norm.py │ ├── plot_mt_training_pcgrad_projection.py │ ├── plot_single_linear_embedding.py │ ├── plot_single_random_init_progress.py │ ├── plot_single_task_random_init_progress.py │ ├── plot_single_task_training_non_termination.py │ └── print_famo_hyperparams_search.py ├── parameter_scaling │ ├── dual_efficiency_curves.pdf │ ├── dual_efficiency_curves.png │ ├── efficiency.py │ 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