├── .gitignore ├── LICENSE ├── assets └── urdf │ ├── allegro_hand_description │ └── meshes │ │ ├── base_link.STL │ │ ├── base_link.obj │ │ ├── base_link_left.STL │ │ ├── base_link_left.obj │ │ ├── box.obj │ │ ├── box.stl │ │ ├── box.stl.convex.obj │ │ ├── box.stl.convex.stl │ │ ├── digit.STL │ │ ├── digit.STL.convex.stl │ │ ├── gel.obj │ │ ├── gel.stl │ │ ├── gel.stl.convex.stl │ │ ├── link_0.0.STL │ │ ├── link_0.0.obj │ │ ├── link_1.0.STL │ │ ├── link_1.0.obj │ │ ├── link_12.0_left.STL │ │ ├── link_12.0_left.obj │ │ ├── link_12.0_right.STL │ │ ├── link_12.0_right.obj │ │ ├── link_13.0.STL │ │ ├── link_13.0.obj │ │ ├── link_14.0.STL │ │ ├── link_14.0.obj │ │ ├── link_15.0.STL │ │ ├── link_15.0.obj │ │ ├── link_15.0_tip.STL │ │ ├── link_15.0_tip.obj │ │ ├── link_2.0.STL │ │ ├── link_2.0.obj │ │ ├── link_3.0.STL │ │ ├── link_3.0.obj │ │ ├── link_3.0_tip.STL │ │ ├── link_3.0_tip.obj │ │ ├── link_4.0.STL │ │ ├── link_4.0.obj │ │ ├── modified_tip.STL │ │ └── modified_tip.obj │ ├── objects │ ├── ball.urdf │ ├── cross4_0.urdf │ ├── cross4_1.urdf │ ├── cross4_2.urdf │ ├── cross4_3.urdf │ ├── cross4_4.urdf │ ├── meshes │ │ ├── non-convex-param │ │ │ ├── cross4_0.obj │ │ │ ├── cross4_0_0decompose.obj │ │ │ ├── cross4_0_1decompose.obj │ │ │ ├── cross4_0_2decompose.obj │ │ │ ├── cross4_0_3decompose.obj │ │ │ ├── cross4_0_4decompose.obj │ │ │ ├── cross4_1.obj │ │ │ ├── cross4_1_0decompose.obj │ │ │ ├── cross4_1_1decompose.obj │ │ │ ├── cross4_1_2decompose.obj │ │ │ ├── cross4_1_3decompose.obj │ │ │ ├── cross4_1_4decompose.obj │ │ │ ├── cross4_2.obj │ │ │ ├── cross4_2_0decompose.obj │ │ │ ├── cross4_2_1decompose.obj │ │ │ ├── cross4_2_2decompose.obj │ │ │ ├── cross4_2_3decompose.obj │ │ │ ├── cross4_3.obj │ │ │ ├── cross4_3_0decompose.obj │ │ │ ├── cross4_3_1decompose.obj │ │ │ ├── cross4_3_2decompose.obj │ │ │ ├── cross4_3_3decompose.obj │ │ │ ├── cross4_3_4decompose.obj │ │ │ ├── cross4_4.obj │ │ │ ├── cross4_4_0decompose.obj │ │ │ ├── cross4_4_1decompose.obj │ │ │ ├── cross4_4_2decompose.obj │ │ │ ├── cross4_4_3decompose.obj │ │ │ └── cross4_4_4decompose.obj │ │ └── set2 │ │ │ ├── set_obj10_thin_block_corner.obj │ │ │ ├── set_obj10_thin_block_corner_0decompose.obj │ │ │ ├── set_obj10_thin_block_corner_0decompose_0decompose.obj │ │ │ ├── set_obj11_cylinder.obj │ │ │ ├── set_obj11_cylinder_0decompose.obj │ │ │ ├── set_obj12_cylinder_corner.obj │ │ │ ├── set_obj12_cylinder_corner_0decompose.obj │ │ │ ├── set_obj13_irregular_block.obj │ │ │ ├── set_obj13_irregular_block_0decompose.obj │ │ │ ├── set_obj14_irregular_block_cross.obj │ │ │ ├── set_obj14_irregular_block_cross_0decompose.obj │ │ │ ├── set_obj14_irregular_block_cross_1decompose.obj │ │ │ ├── set_obj14_irregular_block_cross_2decompose.obj │ │ │ ├── set_obj15_irregular_block_time.obj │ │ │ ├── set_obj15_irregular_block_time_0decompose.obj │ │ │ ├── set_obj15_irregular_block_time_1decompose.obj │ │ │ ├── set_obj16_cylinder_axis.obj │ │ │ ├── set_obj16_cylinder_axis_0decompose.obj │ │ │ ├── set_obj16_cylinder_axis_1decompose.obj │ │ │ ├── set_obj16_cylinder_axis_2decompose.obj │ │ │ ├── set_obj16_cylinder_axis_3decompose.obj │ │ │ ├── set_obj16_cylinder_axis_4decompose.obj │ │ │ ├── set_obj16_cylinder_axis_5decompose.obj │ │ │ ├── set_obj16_cylinder_axis_6decompose.obj │ │ │ ├── set_obj16_cylinder_axis_7decompose.obj │ │ │ ├── set_obj1_regular_block.obj │ │ │ ├── set_obj1_regular_block_0decompose.obj │ │ │ ├── set_obj2_block.obj │ │ │ ├── set_obj2_block_0decompose.obj │ │ │ ├── set_obj3_block.obj │ │ │ ├── set_obj3_block_0decompose.obj │ │ │ ├── set_obj3_block_1decompose.obj │ │ │ ├── set_obj3_block_2decompose.obj │ │ │ ├── set_obj4_block.obj │ │ │ ├── set_obj4_block_0decompose.obj │ │ │ ├── set_obj4_block_10decompose.obj │ │ │ ├── set_obj4_block_11decompose.obj │ │ │ ├── set_obj4_block_12decompose.obj │ │ │ ├── set_obj4_block_13decompose.obj │ │ │ ├── set_obj4_block_14decompose.obj │ │ │ ├── set_obj4_block_15decompose.obj │ │ │ ├── set_obj4_block_1decompose.obj │ │ │ ├── set_obj4_block_2decompose.obj │ │ │ ├── set_obj4_block_3decompose.obj │ │ │ ├── set_obj4_block_4decompose.obj │ │ │ ├── set_obj4_block_5decompose.obj │ │ │ ├── set_obj4_block_6decompose.obj │ │ │ ├── set_obj4_block_7decompose.obj │ │ │ ├── set_obj4_block_8decompose.obj │ │ │ ├── set_obj4_block_9decompose.obj │ │ │ ├── set_obj5_block.obj │ │ │ ├── set_obj5_block_0decompose.obj │ │ │ ├── set_obj5_block_1decompose.obj │ │ │ ├── set_obj6_block_corner.obj │ │ │ ├── set_obj6_block_corner_0decompose.obj │ │ │ ├── set_obj7_block.obj │ │ │ ├── set_obj7_block_0decompose.obj │ │ │ ├── set_obj8_short_block.obj │ │ │ ├── set_obj8_short_block_0decompose.obj │ │ │ ├── set_obj9_thin_block.obj │ │ │ └── set_obj9_thin_block_0decompose.obj │ ├── set_obj10_thin_block_corner.urdf │ ├── set_obj11_cylinder.urdf │ ├── set_obj12_cylinder_corner.urdf │ ├── set_obj13_irregular_block.urdf │ ├── set_obj14_irregular_block_cross.urdf │ ├── set_obj15_irregular_block_time.urdf │ ├── set_obj16_cylinder_axis.urdf │ ├── set_obj1_regular_block.urdf │ ├── set_obj2_block.urdf │ ├── set_obj3_block.urdf │ ├── set_obj4_block.urdf │ ├── set_obj5_block.urdf │ ├── set_obj6_block_corner.urdf │ ├── set_obj7_block.urdf │ ├── set_obj8_short_block.urdf │ └── set_obj9_thin_block.urdf │ └── xarm6 │ ├── meshes │ ├── base.obj │ ├── base.stl │ ├── base.stl.convex.stl │ ├── base_link.STL │ ├── base_link_left.STL │ ├── box.stl │ ├── gel.stl │ ├── link1.obj │ ├── link1.stl │ ├── link1.stl.convex.stl │ ├── link2.obj │ ├── link2.stl │ ├── link2.stl.convex.stl │ ├── link3.obj │ ├── link3.stl │ ├── link3.stl.convex.stl │ ├── link4.obj │ ├── link4.stl │ ├── link4.stl.convex.stl │ ├── link5.obj │ ├── link5.stl │ ├── link5.stl.convex.stl │ ├── link6.obj │ ├── link6.stl │ ├── link6.stl.convex.stl │ ├── link_0.0.STL │ ├── link_1.0.STL │ ├── link_12.0_left.STL │ ├── link_12.0_right.STL │ ├── link_13.0.STL │ ├── link_14.0.STL │ ├── link_15.0.STL │ ├── link_15.0_tip.STL │ ├── link_2.0.STL │ ├── link_3.0.STL │ ├── link_3.0_tip.STL │ ├── link_4.0.STL │ └── modified_tip.STL │ ├── xarm6_allegro_right_fsr_2023_thin.urdf │ └── xarm6_allegro_right_fsr_2023_thin_tilted.urdf ├── distillation ├── rl_pytorch │ └── rl_pytorch │ │ ├── __init__.py │ │ └── distill │ │ ├── distill_bc_warmup.py │ │ └── distill_collect.py └── utils │ ├── config.py │ └── process_distill.py ├── install.md ├── isaacgymenvs ├── __init__.py ├── cfg │ ├── config.yaml │ ├── config_distill.yaml │ ├── task │ │ └── AllegroArmMOAR.yaml │ └── train │ │ └── AllegroArmMOARPPO.yaml ├── learning │ ├── amp_continuous.py │ ├── amp_datasets.py │ ├── amp_models.py │ ├── amp_network_builder.py │ ├── amp_players.py │ ├── common_agent.py │ ├── common_player.py │ ├── hrl_continuous.py │ ├── hrl_models.py │ └── replay_buffer.py ├── tasks │ ├── __init__.py │ ├── allegro_arm_morb_axis.py │ └── base │ │ ├── __init__.py │ │ └── vec_task.py ├── train.py ├── train_distillation.py └── utils │ ├── dr_utils.py │ ├── pc_utils.py │ ├── reformat.py │ ├── rlgames_utils.py │ ├── rotation3d.py │ ├── torch_jit_utils.py │ └── utils.py ├── object_pc_embeddings_C_pretrain_mug.pkl ├── pickle_utils.py ├── readme.md ├── rl_games ├── __init__.py ├── algos_torch │ ├── __init__.py │ ├── a2c_continuous.py │ ├── a2c_discrete.py │ ├── central_value.py │ ├── d2rl.py │ ├── flatten.py │ ├── layers.py │ ├── model_builder.py │ ├── models.py │ ├── moving_mean_std.py │ ├── network_builder.py │ ├── players.py │ ├── pointnets.py │ ├── running_mean_std.py │ ├── sac_agent.py │ ├── sac_helper.py │ ├── self_play_manager.py │ └── torch_ext.py ├── common │ ├── __init__.py │ ├── a2c_common.py │ ├── algo_observer.py │ ├── categorical.py │ ├── common_losses.py │ ├── datasets.py │ ├── diagnostics.py │ ├── divergence.py │ ├── env_configurations.py │ ├── experience.py │ ├── experiment.py │ ├── interval_summary_writer.py │ ├── ivecenv.py │ ├── layers │ │ ├── __init__.py │ │ └── recurrent.py │ ├── object_factory.py │ ├── player.py │ ├── rollouts.py │ ├── schedulers.py │ ├── segment_tree.py │ ├── tr_helpers.py │ ├── transforms │ │ ├── __init__.py │ │ ├── soft_augmentation.py │ │ └── transforms.py │ ├── vecenv.py │ └── wrappers.py ├── configs │ ├── atari │ │ ├── ppo_breakout.yaml │ │ ├── ppo_breakout_cule.yaml │ │ ├── ppo_breakout_envpool.yaml │ │ ├── ppo_breakout_envpool_resnet.yaml │ │ ├── ppo_breakout_torch_impala.yaml │ │ ├── ppo_gopher.yaml │ │ ├── ppo_invaders_envpool.yaml │ │ ├── ppo_invaders_envpool_rnn.yaml │ │ ├── ppo_pacman_envpool.yaml │ │ ├── ppo_pacman_envpool_resnet.yaml │ │ ├── ppo_pacman_envpool_rnn.yaml │ │ ├── ppo_pacman_torch.yaml │ │ ├── ppo_pacman_torch_rnn.yaml │ │ ├── ppo_pong.yaml │ │ ├── ppo_pong_cule.yaml │ │ ├── ppo_pong_envpool.yaml │ │ ├── ppo_pong_envpool_resnet.yaml │ │ ├── ppo_space_invaders_resnet.yaml │ │ └── ppo_space_invaders_torch.yaml │ ├── brax │ │ ├── ppo_ant.yaml │ │ ├── ppo_ant_tcnn.yaml │ │ ├── ppo_grasp.yaml │ │ ├── ppo_halfcheetah.yaml │ │ ├── ppo_humanoid.yaml │ │ ├── ppo_ur5e.yaml │ │ ├── sac_ant.yaml │ │ └── sac_humanoid.yaml │ ├── carracing_ppo.yaml │ ├── dm_control │ │ ├── cartpole.yaml │ │ ├── fish_swim.yaml │ │ ├── halfcheetah_run.yaml │ │ ├── humanoid2.yaml │ │ ├── humanoid_run.yaml │ │ ├── sac_humanoid.yaml │ │ ├── walker_run.yaml │ │ ├── walker_stand.yaml │ │ └── walker_walk.yaml │ ├── ma │ │ ├── ppo_connect4_self_play.yaml │ │ ├── ppo_connect4_self_play_resnet.yaml │ │ ├── ppo_slime_self_play.yaml │ │ └── ppo_slime_v0.yaml │ ├── minigrid │ │ ├── lava_rnn_img.yaml │ │ └── minigrid_rnn_img.yaml │ ├── mujoco │ │ ├── ant.yaml │ │ ├── ant_envpool.yaml │ │ ├── halfcheetah.yaml │ │ ├── halfcheetah_envpool.yaml │ │ ├── hopper.yaml │ │ ├── hopper_envpool.yaml │ │ ├── humanoid.yaml │ │ ├── humanoid_envpool.yaml │ │ ├── sac_ant_envpool.yaml │ │ ├── sac_halfcheetah_envpool.yaml │ │ ├── walker2d.yaml │ │ └── walker2d_envpool.yaml │ ├── openai │ │ ├── ppo_gym_ant.yaml │ │ ├── ppo_gym_hand.yaml │ │ └── ppo_gym_humanoid.yaml │ ├── ppo_cartpole.yaml │ ├── ppo_cartpole_masked_velocity_rnn.yaml │ ├── ppo_continuous.yaml │ ├── ppo_continuous_lstm.yaml │ ├── ppo_lunar.yaml │ ├── ppo_lunar_continiuos_torch.yaml │ ├── ppo_lunar_discrete.yaml │ ├── ppo_multiwalker.yaml │ ├── ppo_pendulum.yaml │ ├── ppo_pendulum_torch.yaml │ ├── ppo_reacher.yaml │ ├── ppo_smac.yaml │ ├── ppo_walker.yaml │ ├── ppo_walker_hardcore.yaml │ ├── ppo_walker_rnn.yaml │ ├── ppo_walker_tcnn.yaml │ ├── procgen │ │ └── ppo_coinrun.yaml │ ├── smac │ │ ├── 10m_vs_11m_torch.yaml │ │ ├── 27m_vs_30m_cv.yaml │ │ ├── 27m_vs_30m_torch.yaml │ │ ├── 2m_vs_1z.yaml │ │ ├── 2m_vs_1z_torch.yaml │ │ ├── 2s_vs_1c.yaml │ │ ├── 3m_cnn_torch.yaml │ │ ├── 3m_torch.yaml │ │ ├── 3m_torch_cv.yaml │ │ ├── 3m_torch_cv_joint.yaml │ │ ├── 3m_torch_cv_rnn.yaml │ │ ├── 3m_torch_rnn.yaml │ │ ├── 3m_torch_sparse.yaml │ │ ├── 3s5z_vs_3s6z_torch.yaml │ │ ├── 3s5z_vs_3s6z_torch_cv.yaml │ │ ├── 3s_vs_4z.yaml │ │ ├── 3s_vs_5z.yaml │ │ ├── 3s_vs_5z_cv.yaml │ │ ├── 3s_vs_5z_cv_rnn.yaml │ │ ├── 3s_vs_5z_torch_lstm.yaml │ │ ├── 3s_vs_5z_torch_lstm2.yaml │ │ ├── 5m_vs_6m_rnn.yaml │ │ ├── 5m_vs_6m_rnn_cv.yaml │ │ ├── 5m_vs_6m_torch.yaml │ │ ├── 6h_vs_8z_torch.yaml │ │ ├── 6h_vs_8z_torch_cv.yaml │ │ ├── 8m_torch.yaml │ │ ├── 8m_torch_cv.yaml │ │ ├── MMM2_torch.yaml │ │ ├── corridor_torch.yaml │ │ ├── corridor_torch_cv.yaml │ │ └── runs │ │ │ ├── 2c_vs_64zg.yaml │ │ │ ├── 2c_vs_64zg_neg.yaml │ │ │ ├── 2s3z.yaml │ │ │ ├── 2s3z_neg.yaml │ │ │ ├── 2s_vs_1c.yaml │ │ │ ├── 2s_vs_1c_neg.yaml │ │ │ ├── 3s5z.yaml │ │ │ ├── 3s5z_neg.yaml │ │ │ ├── 3s_vs_5z.yaml │ │ │ ├── 3s_vs_5z_neg.yaml │ │ │ ├── 3s_vs_5z_neg_joint.yaml │ │ │ ├── 6h_vs_8z.yaml │ │ │ ├── 6h_vs_8z_neg.yaml │ │ │ ├── 6h_vs_8z_rnn.yaml │ │ │ ├── MMM2.yaml │ │ │ ├── MMM2_conv1d.yaml │ │ │ ├── MMM2_neg.yaml │ │ │ ├── MMM2_rnn.yaml │ │ │ ├── bane_vs_bane.yaml │ │ │ ├── bane_vs_bane_neg.yaml │ │ │ ├── corridor_cv.yaml │ │ │ └── corridor_cv_neg.yaml │ └── test │ │ ├── test_asymmetric_continuous.yaml │ │ ├── test_asymmetric_discrete.yaml │ │ ├── test_asymmetric_discrete_mhv.yaml │ │ ├── test_asymmetric_discrete_mhv_mops.yaml │ │ ├── test_discrete.yaml │ │ ├── test_discrete_multidiscrete_mhv.yaml │ │ ├── test_ppo_walker_truncated_time.yaml │ │ ├── test_rnn.yaml │ │ ├── test_rnn_multidiscrete.yaml │ │ └── test_rnn_multidiscrete_mhv.yaml ├── distributed │ └── __init__.py ├── envs │ ├── __init__.py │ ├── brax.py │ ├── connect4_network.py │ ├── connect4_selfplay.py │ ├── cule.py │ ├── diambra │ │ └── diambra.py │ ├── envpool.py │ ├── multiwalker.py │ ├── slimevolley_selfplay.py │ ├── smac_env.py │ ├── test │ │ ├── __init__.py │ │ ├── example_env.py │ │ ├── rnn_env.py │ │ └── test_asymmetric_env.py │ └── test_network.py ├── interfaces │ ├── __init__.py │ └── base_algorithm.py ├── networks │ ├── __init__.py │ └── tcnn_mlp.py └── torch_runner.py └── scripts ├── bc_axis.sh ├── bc_baoding.sh ├── bc_cross.sh ├── collect_axis.sh ├── collect_baoding.sh ├── collect_cross.sh ├── teacher_axis.sh ├── teacher_axis_visrl.sh ├── teacher_baoding.sh ├── teacher_baoding_visrl.sh ├── 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