├── .gitignore ├── LICENSE ├── README.md ├── __init__.py ├── agent ├── __init__.py ├── agent.py ├── evolution_agent.py ├── init_path.py ├── optimization_agent.py ├── pruning_agent.py ├── rollout_agent.py └── rollout_master_agent.py ├── config ├── __init__.py ├── config.py ├── evolutionary_config.py └── init_path.py ├── env ├── __init__.py ├── assets │ ├── common │ │ ├── hopper.xml │ │ ├── materials.xml │ │ ├── skybox.xml │ │ └── visual.xml │ ├── fish3d.xml │ └── walker.xml ├── burst_videos.sh ├── dm_env_wrapper.py ├── env_wrapper.py ├── fish_env_wrapper.py ├── hierarchy_model.py ├── init_path.py ├── model_gen.py ├── model_perturb.py ├── species_info.py ├── test_fish.py ├── test_hierarchy_model.py ├── test_model_gen.py ├── visualize_agent.py ├── visualize_species ├── visualize_species.py └── walker_env_wrapper.py ├── environments ├── README.md ├── __init__.py ├── asset_generator.py ├── assets │ ├── CentipedeEight.xml │ ├── CentipedeFifty.xml │ ├── CentipedeFive.xml │ ├── CentipedeForty.xml │ ├── CentipedeFour.xml │ ├── CentipedeFourteen.xml │ ├── CentipedeOne hundred.xml │ ├── CentipedeSeven.xml │ ├── CentipedeSix.xml │ ├── CentipedeTen.xml │ ├── CentipedeThirty.xml │ ├── CentipedeThree.xml │ ├── CentipedeTwelve.xml │ ├── CentipedeTwenty.xml │ ├── CpCentipedeEight.xml │ ├── CpCentipedeFour.xml │ ├── CpCentipedeFourteen.xml │ ├── CpCentipedeSix.xml │ ├── CpCentipedeTen.xml │ ├── CpCentipedeTwelve.xml │ ├── CrippledSnakeSix.xml │ ├── InvPendulumFive.xml │ ├── InvPendulumFour.xml │ ├── InvPendulumOne.xml │ ├── InvPendulumSeven.xml │ ├── InvPendulumSix.xml │ ├── InvPendulumThree.xml │ ├── InvPendulumTwo.xml │ ├── ReacherFive.xml │ ├── ReacherFour.xml │ ├── ReacherOne.xml │ ├── ReacherSeven.xml │ ├── ReacherSix.xml │ ├── ReacherThree.xml │ ├── ReacherTwo.xml │ ├── ReacherZero.xml │ ├── SnakeEight.xml │ ├── SnakeFive.xml │ ├── SnakeForty.xml │ ├── SnakeFour.xml │ ├── SnakeNine.xml │ ├── SnakeSeven.xml │ ├── SnakeSix.xml │ ├── SnakeTen.xml │ ├── SnakeThree.xml │ ├── SnakeTwenty.xml │ ├── WalkersFullcheetah.xml │ ├── WalkersHalfcheetah.xml │ ├── WalkersHalfhumanoid.xml │ ├── WalkersHopper.xml │ ├── WalkersKangaroo.xml │ ├── WalkersOstrich.xml │ ├── ant.xml │ ├── baseline │ │ ├── WalkersFullcheetahfive.xml │ │ ├── WalkersFullcheetahfour.xml │ │ ├── WalkersFullcheetahone.xml │ │ ├── WalkersFullcheetahthree.xml │ │ ├── WalkersFullcheetahtwo.xml │ │ ├── WalkersHalfcheetahfive.xml │ │ ├── WalkersHalfcheetahfour.xml │ │ ├── WalkersHalfcheetahone.xml │ │ ├── WalkersHalfcheetahthree.xml │ │ ├── WalkersHalfcheetahtwo.xml │ │ ├── WalkersHalfhumanoidfive.xml │ │ ├── WalkersHalfhumanoidfour.xml │ │ ├── WalkersHalfhumanoidone.xml │ │ ├── WalkersHalfhumanoidthree.xml │ │ ├── WalkersHalfhumanoidtwo.xml │ │ ├── WalkersHopperfive.xml │ │ ├── WalkersHopperfour.xml │ │ ├── WalkersHopperone.xml │ │ ├── WalkersHopperthree.xml │ │ ├── WalkersHoppertwo.xml │ │ ├── WalkersOstrichfive.xml │ │ ├── WalkersOstrichfour.xml │ │ ├── WalkersOstrichone.xml │ │ ├── WalkersOstrichthree.xml │ │ └── WalkersOstrichtwo.xml │ ├── common │ │ ├── materials.xml │ │ └── visual.xml │ ├── deprecated │ │ └── ZeRobot-07-03.xml │ ├── fish.xml │ ├── half_cheetah.xml │ ├── hopper.xml │ ├── humanoid.xml │ ├── humanoidstandup.xml │ ├── inverted_double_pendulum.xml │ ├── inverted_pendulum.xml │ ├── length │ │ ├── WalkersFullcheetahfive.xml │ │ ├── WalkersFullcheetahfour.xml │ │ ├── WalkersFullcheetahone.xml │ │ ├── WalkersFullcheetahthree.xml │ │ ├── WalkersFullcheetahtwo.xml │ │ ├── WalkersHalfcheetahfive.xml │ │ ├── WalkersHalfcheetahfour.xml │ │ ├── WalkersHalfcheetahone.xml │ │ ├── WalkersHalfcheetahthree.xml │ │ ├── WalkersHalfcheetahtwo.xml │ │ ├── WalkersHalfhumanoidfive.xml │ │ ├── WalkersHalfhumanoidfour.xml │ │ ├── WalkersHalfhumanoidone.xml │ │ ├── WalkersHalfhumanoidthree.xml │ │ ├── WalkersHalfhumanoidtwo.xml │ │ ├── WalkersHopperfive.xml │ │ ├── WalkersHopperfour.xml │ │ ├── WalkersHopperone.xml │ │ ├── WalkersHopperthree.xml │ │ ├── WalkersHoppertwo.xml │ │ ├── WalkersOstrichfive.xml │ │ ├── WalkersOstrichfour.xml │ │ ├── WalkersOstrichone.xml │ │ ├── WalkersOstrichthree.xml │ │ └── WalkersOstrichtwo.xml │ ├── mass │ │ ├── WalkersFullcheetahfive.xml │ │ ├── WalkersFullcheetahfour.xml │ │ ├── WalkersFullcheetahone.xml │ │ ├── WalkersFullcheetahthree.xml │ │ ├── WalkersFullcheetahtwo.xml │ │ ├── WalkersHalfcheetahfive.xml │ │ ├── WalkersHalfcheetahfour.xml │ │ ├── WalkersHalfcheetahone.xml │ │ ├── WalkersHalfcheetahthree.xml │ │ ├── WalkersHalfcheetahtwo.xml │ │ ├── WalkersHalfhumanoidfive.xml │ │ ├── WalkersHalfhumanoidfour.xml │ │ ├── WalkersHalfhumanoidone.xml │ │ ├── WalkersHalfhumanoidthree.xml │ │ ├── WalkersHalfhumanoidtwo.xml │ │ ├── WalkersHopperfive.xml │ │ ├── WalkersHopperfour.xml │ │ ├── WalkersHopperone.xml │ │ ├── WalkersHopperthree.xml │ │ ├── WalkersHoppertwo.xml │ │ ├── WalkersOstrichfive.xml │ │ ├── WalkersOstrichfour.xml │ │ ├── WalkersOstrichone.xml │ │ ├── WalkersOstrichthree.xml │ │ └── WalkersOstrichtwo.xml │ ├── reacher.xml │ ├── readme.md │ ├── strength │ │ ├── WalkersFullcheetahfive.xml │ │ ├── WalkersFullcheetahfour.xml │ │ ├── WalkersFullcheetahone.xml │ │ ├── WalkersFullcheetahthree.xml │ │ ├── WalkersFullcheetahtwo.xml │ │ ├── WalkersHalfcheetahfive.xml │ │ ├── WalkersHalfcheetahfour.xml │ │ ├── WalkersHalfcheetahone.xml │ │ ├── WalkersHalfcheetahthree.xml │ │ ├── WalkersHalfcheetahtwo.xml │ │ ├── WalkersHalfhumanoidfive.xml │ │ ├── WalkersHalfhumanoidfour.xml │ │ ├── WalkersHalfhumanoidone.xml │ │ ├── WalkersHalfhumanoidthree.xml │ │ ├── WalkersHalfhumanoidtwo.xml │ │ ├── WalkersHopperfive.xml │ │ ├── WalkersHopperfour.xml │ │ ├── WalkersHopperone.xml │ │ ├── WalkersHopperthree.xml │ │ ├── WalkersHoppertwo.xml │ │ ├── WalkersOstrichfive.xml │ │ ├── WalkersOstrichfour.xml │ │ ├── WalkersOstrichone.xml │ │ ├── WalkersOstrichthree.xml │ │ └── WalkersOstrichtwo.xml │ ├── swimmer.xml │ └── walker2d.xml ├── centipede_generator.py ├── init_path.py ├── multitask_env │ ├── __init__.py │ └── walkers.py ├── reacher_generator.py ├── register.py ├── snake_generator.py └── transfer_env │ ├── __init__.py │ ├── antS.py │ ├── centipede_env.py │ ├── fish_env.py │ ├── invpendulum_env.py │ ├── reacher_env.py │ └── snake_env.py ├── evolution ├── __init__.py ├── agent_bank.py ├── evo_analysis.py ├── init_path.py ├── species2species.py └── species_bank.py ├── graph_util ├── __init__.py ├── gen_gnn_param.py ├── gnn_io_util.py ├── gnn_util.py ├── graph_data_util.py ├── init_path.py ├── mujoco_parser.py ├── nervenetplus_util.py └── structure_mapper.py ├── html_visual ├── README.md ├── __init__.py ├── evolution.html ├── expand_genealogy.html ├── genealogy.html ├── html_visual.py ├── init_path.py ├── spc_evolution.html ├── vis_spc_tree.py └── vis_tree.py ├── img ├── nge_1.png ├── nge_2.png ├── nge_3.png ├── nge_4.png ├── nge_5.png └── nge_6.png ├── network ├── __init__.py ├── baseline_network.py ├── gated_graph_policy_network.py ├── init_path.py ├── 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