├── .gitignore ├── LICENSE ├── README.md ├── assets ├── 0.gif ├── 1.gif ├── 2.gif ├── 3.gif ├── 4.gif ├── 5.gif ├── 6.gif ├── 7.gif └── 8.png ├── datasets ├── download_mt30.sh └── download_mt80.sh ├── docker ├── Dockerfile ├── environment.yaml └── nvidia_icd.json ├── nautilus └── launch.py ├── results ├── dreamerv3 │ ├── acrobot-swingup.csv │ ├── cartpole-balance-sparse.csv │ ├── cartpole-balance.csv │ ├── cartpole-swingup-sparse.csv │ ├── cartpole-swingup.csv │ ├── cheetah-jump.csv │ ├── cheetah-run-back.csv │ ├── cheetah-run-backwards.csv │ ├── cheetah-run-front.csv │ ├── cheetah-run.csv │ ├── cup-catch.csv │ ├── cup-spin.csv │ ├── dog-run.csv │ ├── dog-stand.csv │ ├── dog-trot.csv │ ├── dog-walk.csv │ ├── finger-spin.csv │ ├── finger-turn-easy.csv │ ├── finger-turn-hard.csv │ ├── fish-swim.csv │ ├── hopper-hop-backwards.csv │ ├── hopper-hop.csv │ ├── hopper-stand.csv │ ├── humanoid-run.csv │ ├── humanoid-stand.csv │ ├── humanoid-walk.csv │ ├── lift-cube.csv │ ├── mw-assembly.csv │ ├── mw-basketball.csv │ ├── mw-bin-picking.csv │ ├── mw-box-close.csv │ ├── mw-button-press-topdown-wall.csv │ ├── mw-button-press-topdown.csv │ ├── mw-button-press-wall.csv │ ├── mw-button-press.csv │ ├── mw-coffee-button.csv │ ├── mw-coffee-pull.csv │ ├── mw-coffee-push.csv │ ├── mw-dial-turn.csv │ ├── mw-disassemble.csv │ ├── mw-door-close.csv │ ├── mw-door-lock.csv │ ├── mw-door-open.csv │ ├── mw-door-unlock.csv │ ├── mw-drawer-close.csv │ ├── mw-drawer-open.csv │ ├── mw-faucet-close.csv │ ├── mw-faucet-open.csv │ ├── mw-hammer.csv │ ├── mw-hand-insert.csv │ ├── mw-handle-press-side.csv │ ├── mw-handle-press.csv │ ├── mw-handle-pull-side.csv │ ├── mw-handle-pull.csv │ ├── mw-lever-pull.csv │ ├── mw-peg-insert-side.csv │ ├── mw-peg-unplug-side.csv │ ├── mw-pick-out-of-hole.csv │ ├── mw-pick-place-wall.csv │ ├── mw-pick-place.csv │ ├── mw-plate-slide-back-side.csv │ ├── mw-plate-slide-back.csv │ ├── mw-plate-slide-side.csv │ ├── mw-plate-slide.csv │ ├── mw-push-back.csv │ ├── mw-push-wall.csv │ ├── mw-push.csv │ ├── mw-reach-wall.csv │ ├── mw-reach.csv │ ├── mw-shelf-place.csv │ ├── mw-soccer.csv │ ├── mw-stick-pull.csv │ ├── mw-stick-push.csv │ ├── mw-sweep-into.csv │ ├── mw-sweep.csv │ ├── mw-window-close.csv │ ├── mw-window-open.csv │ ├── myo-hand-key-turn-hard.csv │ ├── myo-hand-key-turn.csv │ ├── myo-hand-obj-hold-hard.csv │ ├── myo-hand-obj-hold.csv │ ├── myo-hand-pen-twirl-hard.csv │ ├── myo-hand-pen-twirl.csv │ ├── myo-hand-pose-hard.csv │ ├── myo-hand-pose.csv │ ├── myo-hand-reach-hard.csv │ ├── myo-hand-reach.csv │ ├── pendulum-spin.csv │ ├── pendulum-swingup.csv │ ├── pick-cube.csv │ ├── pick-ycb.csv │ ├── quadruped-run.csv │ ├── quadruped-walk.csv │ ├── reacher-easy.csv │ ├── reacher-hard.csv │ ├── reacher-three-easy.csv │ ├── reacher-three-hard.csv │ ├── stack-cube.csv │ ├── turn-faucet.csv │ ├── walker-run-backwards.csv │ ├── walker-run.csv │ ├── walker-stand.csv │ ├── walker-walk-backwards.csv │ └── walker-walk.csv ├── sac │ ├── acrobot-swingup.csv │ ├── cartpole-balance-sparse.csv │ ├── cartpole-balance.csv │ ├── cartpole-swingup-sparse.csv │ ├── cartpole-swingup.csv │ ├── cheetah-jump.csv │ ├── cheetah-run-back.csv │ ├── cheetah-run-backwards.csv │ ├── cheetah-run-front.csv │ ├── cheetah-run.csv │ ├── cup-catch.csv │ ├── cup-spin.csv │ ├── dog-run.csv │ ├── dog-stand.csv │ ├── dog-trot.csv │ ├── dog-walk.csv │ ├── finger-spin.csv │ ├── finger-turn-easy.csv │ ├── finger-turn-hard.csv │ ├── fish-swim.csv │ ├── hopper-hop-backwards.csv │ ├── hopper-hop.csv │ ├── hopper-stand.csv │ ├── humanoid-run.csv │ ├── humanoid-stand.csv │ ├── humanoid-walk.csv │ ├── lift-cube.csv │ ├── mw-assembly.csv │ ├── mw-basketball.csv │ ├── mw-bin-picking.csv │ ├── mw-box-close.csv │ ├── mw-button-press-topdown-wall.csv │ ├── mw-button-press-topdown.csv │ ├── mw-button-press-wall.csv │ ├── mw-button-press.csv │ ├── mw-coffee-button.csv │ ├── mw-coffee-pull.csv │ ├── mw-coffee-push.csv │ ├── mw-dial-turn.csv │ ├── mw-disassemble.csv │ ├── mw-door-close.csv │ ├── mw-door-lock.csv │ ├── mw-door-open.csv │ ├── mw-door-unlock.csv │ ├── mw-drawer-close.csv │ ├── mw-drawer-open.csv │ ├── mw-faucet-close.csv │ ├── mw-faucet-open.csv │ ├── mw-hammer.csv │ ├── mw-hand-insert.csv │ ├── mw-handle-press-side.csv │ ├── mw-handle-press.csv │ ├── mw-handle-pull-side.csv │ ├── mw-handle-pull.csv │ ├── mw-lever-pull.csv │ ├── mw-peg-insert-side.csv │ ├── mw-peg-unplug-side.csv │ ├── mw-pick-out-of-hole.csv │ ├── mw-pick-place-wall.csv │ ├── mw-pick-place.csv │ ├── mw-plate-slide-back-side.csv │ ├── mw-plate-slide-back.csv │ ├── mw-plate-slide-side.csv │ ├── mw-plate-slide.csv │ ├── mw-push-back.csv │ ├── mw-push-wall.csv │ ├── mw-push.csv │ ├── mw-reach-wall.csv │ ├── mw-reach.csv │ ├── mw-shelf-place.csv │ ├── mw-soccer.csv │ ├── mw-stick-pull.csv │ ├── mw-stick-push.csv │ ├── mw-sweep-into.csv │ ├── mw-sweep.csv │ ├── mw-window-close.csv │ ├── mw-window-open.csv │ ├── myo-hand-key-turn-hard.csv │ ├── myo-hand-key-turn.csv │ ├── myo-hand-obj-hold-hard.csv │ ├── myo-hand-obj-hold.csv │ ├── myo-hand-pen-twirl-hard.csv │ ├── myo-hand-pen-twirl.csv │ ├── myo-hand-pose-hard.csv │ ├── myo-hand-pose.csv │ ├── myo-hand-reach-hard.csv │ ├── myo-hand-reach.csv │ ├── pendulum-spin.csv │ ├── pendulum-swingup.csv │ ├── pick-cube.csv │ ├── pick-ycb.csv │ ├── quadruped-run.csv │ ├── quadruped-walk.csv │ ├── reacher-easy.csv │ ├── reacher-hard.csv │ ├── reacher-three-easy.csv │ ├── reacher-three-hard.csv │ ├── stack-cube.csv │ ├── turn-faucet.csv │ ├── walker-run-backwards.csv │ ├── walker-run.csv │ ├── walker-stand.csv │ ├── walker-walk-backwards.csv │ └── walker-walk.csv ├── tdmpc │ ├── acrobot-swingup.csv │ ├── cartpole-balance-sparse.csv │ ├── cartpole-balance.csv │ ├── cartpole-swingup-sparse.csv │ ├── cartpole-swingup.csv │ ├── cheetah-jump.csv │ ├── cheetah-run-back.csv │ ├── cheetah-run-backwards.csv │ ├── cheetah-run-front.csv │ ├── cheetah-run.csv │ ├── cup-catch.csv │ ├── cup-spin.csv │ ├── dog-run.csv │ ├── dog-stand.csv │ ├── dog-trot.csv │ ├── dog-walk.csv │ ├── finger-spin.csv │ ├── finger-turn-easy.csv │ ├── finger-turn-hard.csv │ ├── fish-swim.csv │ ├── hopper-hop-backwards.csv │ ├── hopper-hop.csv │ ├── hopper-stand.csv │ ├── humanoid-run.csv │ ├── humanoid-stand.csv │ ├── humanoid-walk.csv │ ├── lift-cube.csv │ ├── mw-assembly.csv │ ├── mw-basketball.csv │ ├── mw-bin-picking.csv │ ├── mw-box-close.csv │ ├── mw-button-press-topdown-wall.csv │ ├── mw-button-press-topdown.csv │ ├── mw-button-press-wall.csv │ ├── mw-button-press.csv │ ├── mw-coffee-button.csv │ ├── mw-coffee-pull.csv │ ├── mw-coffee-push.csv │ ├── mw-dial-turn.csv │ ├── mw-disassemble.csv │ ├── mw-door-close.csv │ ├── mw-door-lock.csv │ ├── mw-door-open.csv │ ├── mw-door-unlock.csv │ ├── mw-drawer-close.csv │ ├── mw-drawer-open.csv │ ├── mw-faucet-close.csv │ ├── mw-faucet-open.csv │ ├── mw-hammer.csv │ ├── mw-hand-insert.csv │ ├── mw-handle-press-side.csv │ ├── mw-handle-press.csv │ ├── mw-handle-pull-side.csv │ ├── mw-handle-pull.csv │ ├── mw-lever-pull.csv │ ├── mw-peg-insert-side.csv │ ├── mw-peg-unplug-side.csv │ ├── mw-pick-out-of-hole.csv │ ├── mw-pick-place-wall.csv │ ├── mw-pick-place.csv │ ├── mw-plate-slide-back-side.csv │ ├── mw-plate-slide-back.csv │ ├── mw-plate-slide-side.csv │ ├── mw-plate-slide.csv │ ├── mw-push-back.csv │ ├── mw-push-wall.csv │ ├── mw-push.csv │ ├── mw-reach-wall.csv │ ├── mw-reach.csv │ ├── mw-shelf-place.csv │ ├── mw-soccer.csv │ ├── mw-stick-pull.csv │ ├── mw-stick-push.csv │ ├── mw-sweep-into.csv │ ├── mw-sweep.csv │ ├── mw-window-close.csv │ ├── mw-window-open.csv │ ├── myo-hand-key-turn-hard.csv │ ├── myo-hand-key-turn.csv │ ├── myo-hand-obj-hold-hard.csv │ ├── myo-hand-obj-hold.csv │ ├── myo-hand-pen-twirl-hard.csv │ ├── myo-hand-pen-twirl.csv │ ├── myo-hand-pose-hard.csv │ ├── myo-hand-pose.csv │ ├── myo-hand-reach-hard.csv │ ├── myo-hand-reach.csv │ ├── pendulum-spin.csv │ ├── pendulum-swingup.csv │ ├── pick-cube.csv │ ├── pick-ycb.csv │ ├── quadruped-run.csv │ ├── quadruped-walk.csv │ ├── reacher-easy.csv │ ├── reacher-hard.csv │ ├── reacher-three-easy.csv │ ├── reacher-three-hard.csv │ ├── stack-cube.csv │ ├── turn-faucet.csv │ ├── walker-run-backwards.csv │ ├── walker-run.csv │ ├── walker-stand.csv │ ├── walker-walk-backwards.csv │ └── walker-walk.csv ├── tdmpc2-pixels │ ├── acrobot-swingup.csv │ ├── cartpole-swingup-sparse.csv │ ├── cheetah-run.csv │ ├── finger-spin.csv │ ├── finger-turn-easy.csv │ ├── finger-turn-hard.csv │ ├── quadruped-run.csv │ ├── quadruped-walk.csv │ ├── reacher-easy.csv │ ├── reacher-hard.csv │ ├── walker-run.csv │ └── walker-walk.csv └── tdmpc2 │ ├── acrobot-swingup.csv │ ├── cartpole-balance-sparse.csv │ ├── cartpole-balance.csv │ ├── cartpole-swingup-sparse.csv │ ├── cartpole-swingup.csv │ ├── cheetah-jump.csv │ ├── cheetah-run-back.csv │ ├── cheetah-run-backwards.csv │ ├── cheetah-run-front.csv │ ├── cheetah-run.csv │ ├── cup-catch.csv │ ├── cup-spin.csv │ ├── dog-run.csv │ ├── dog-stand.csv │ ├── dog-trot.csv │ ├── dog-walk.csv │ ├── finger-spin.csv │ ├── finger-turn-easy.csv │ ├── finger-turn-hard.csv │ ├── fish-swim.csv │ ├── hopper-hop-backwards.csv │ ├── hopper-hop.csv │ ├── hopper-stand.csv │ ├── humanoid-run.csv │ ├── humanoid-stand.csv │ ├── humanoid-walk.csv │ ├── lift-cube.csv │ ├── mw-assembly.csv │ ├── mw-basketball.csv │ ├── mw-bin-picking.csv │ ├── mw-box-close.csv │ ├── mw-button-press-topdown-wall.csv │ ├── mw-button-press-topdown.csv │ ├── mw-button-press-wall.csv │ ├── mw-button-press.csv │ ├── mw-coffee-button.csv │ ├── mw-coffee-pull.csv │ ├── mw-coffee-push.csv │ ├── mw-dial-turn.csv │ ├── mw-disassemble.csv │ ├── mw-door-close.csv │ ├── mw-door-lock.csv │ ├── mw-door-open.csv │ ├── mw-door-unlock.csv │ ├── mw-drawer-close.csv │ ├── mw-drawer-open.csv │ ├── mw-faucet-close.csv │ ├── mw-faucet-open.csv │ ├── mw-hammer.csv │ ├── mw-hand-insert.csv │ ├── mw-handle-press-side.csv │ ├── mw-handle-press.csv │ ├── mw-handle-pull-side.csv │ ├── mw-handle-pull.csv │ ├── mw-lever-pull.csv │ ├── mw-peg-insert-side.csv │ ├── mw-peg-unplug-side.csv │ ├── mw-pick-out-of-hole.csv │ ├── mw-pick-place-wall.csv │ ├── mw-pick-place.csv │ ├── mw-plate-slide-back-side.csv │ ├── mw-plate-slide-back.csv │ ├── mw-plate-slide-side.csv │ ├── mw-plate-slide.csv │ ├── mw-push-back.csv │ ├── mw-push-wall.csv │ ├── mw-push.csv │ ├── mw-reach-wall.csv │ ├── mw-reach.csv │ ├── mw-shelf-place.csv │ ├── mw-soccer.csv │ ├── mw-stick-pull.csv │ ├── mw-stick-push.csv │ ├── mw-sweep-into.csv │ ├── mw-sweep.csv │ ├── mw-window-close.csv │ ├── mw-window-open.csv │ ├── myo-hand-key-turn-hard.csv │ ├── myo-hand-key-turn.csv │ ├── myo-hand-obj-hold-hard.csv │ ├── myo-hand-obj-hold.csv │ ├── myo-hand-pen-twirl-hard.csv │ ├── myo-hand-pen-twirl.csv │ ├── myo-hand-pose-hard.csv │ ├── myo-hand-pose.csv │ ├── myo-hand-reach-hard.csv │ ├── myo-hand-reach.csv │ ├── pendulum-spin.csv │ ├── pendulum-swingup.csv │ ├── pick-cube.csv │ ├── pick-ycb.csv │ ├── quadruped-run.csv │ ├── quadruped-walk.csv │ ├── reacher-easy.csv │ ├── reacher-hard.csv │ ├── reacher-three-easy.csv │ ├── reacher-three-hard.csv │ ├── stack-cube.csv │ ├── turn-faucet.csv │ ├── walker-run-backwards.csv │ ├── walker-run.csv │ ├── walker-stand.csv │ ├── walker-walk-backwards.csv │ └── walker-walk.csv └── tdmpc2 ├── __init__.py ├── common ├── __init__.py ├── buffer.py ├── init.py ├── layers.py ├── logger.py ├── math.py ├── parser.py ├── scale.py ├── seed.py └── world_model.py ├── config.yaml ├── config_finetune.yaml ├── envs ├── __init__.py ├── dmcontrol.py ├── maniskill.py ├── metaworld.py ├── myosuite.py ├── tasks │ ├── __init__.py │ ├── ball_in_cup.py │ ├── ball_in_cup.xml │ ├── cheetah.py │ ├── cheetah.xml │ ├── fish.py │ ├── fish.xml │ ├── hopper.py │ ├── hopper.xml │ ├── pendulum.py │ ├── pendulum.xml │ ├── reacher.py │ ├── reacher_four_links.xml │ ├── reacher_three_links.xml │ ├── walker.py │ └── walker.xml └── wrappers │ ├── __init__.py │ ├── multitask.py │ ├── tensor.py │ └── timeout.py ├── evaluate.py ├── tdmpc2.py ├── train.py └── trainer ├── __init__.py ├── base.py ├── offline_trainer.py └── online_trainer.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WEIRDLabUW/sgft/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WEIRDLabUW/sgft/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WEIRDLabUW/sgft/HEAD/README.md -------------------------------------------------------------------------------- /assets/0.gif: -------------------------------------------------------------------------------- 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