├── README.md ├── cs287-hw1 ├── .DS_Store ├── README.md ├── __pycache__ │ └── logger.cpython-38.pyc ├── cart_test.py ├── custom │ ├── gym_custom_envs.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── requires.txt │ │ └── top_level.txt │ ├── gym_custom_envs │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── __init__.cpython-38.pyc │ │ └── envs │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── cart_pole_conti_env.cpython-37.pyc │ │ │ ├── cart_pole_conti_env.cpython-38.pyc │ │ │ ├── double_integrator_env.cpython-37.pyc │ │ │ ├── double_integrator_env.cpython-38.pyc │ │ │ ├── quad2d_trajopt.cpython-37.pyc │ │ │ ├── quad2d_trajopt.cpython-38.pyc │ │ │ ├── quadrotor_2d_env.cpython-37.pyc │ │ │ ├── quadrotor_2d_env.cpython-38.pyc │ │ │ ├── vibrating_pendulum_env.cpython-37.pyc │ │ │ └── vibrating_pendulum_env.cpython-38.pyc │ │ │ ├── assets │ │ │ └── clockwise.png │ │ │ ├── cart_pole_conti_env.py │ │ │ ├── double_integrator_env.py │ │ │ ├── quad2d_trajopt.py │ │ │ ├── quadrotor_2d_env.py │ │ │ └── vibrating_pendulum_env.py │ └── setup.py ├── data │ ├── part1 │ │ ├── GridWorldEnv0 │ │ │ ├── policy_typedeterministic_temperature1.0 │ │ │ │ ├── contour.gif │ │ │ │ ├── contour.png │ │ │ │ ├── contours_progress.mp4 │ │ │ │ ├── learning_curve.png │ │ │ │ ├── log.txt │ │ │ │ ├── params.json │ │ │ │ ├── progress.csv │ │ │ │ ├── roll_outs.mp4 │ │ │ │ └── rollouts.gif │ │ │ ├── policy_typemax_ent_temperature0.01 │ │ │ │ ├── contour.gif │ │ │ │ ├── contour.png │ │ │ │ ├── contours_progress.mp4 │ │ │ │ ├── learning_curve.png │ │ │ │ ├── log.txt │ │ │ │ ├── params.json │ │ │ │ ├── progress.csv │ │ │ │ ├── roll_outs.mp4 │ │ │ │ └── rollouts.gif │ │ │ ├── policy_typemax_ent_temperature1.0 │ │ │ │ ├── contour.png │ │ │ │ ├── contours_progress.mp4 │ │ │ │ ├── learning_curve.png │ │ │ │ ├── log.txt │ │ │ │ ├── params.json │ │ │ │ ├── progress.csv │ │ │ │ └── roll_outs.mp4 │ │ │ └── policy_typemax_ent_temperature1e-05 │ │ │ │ ├── contour.png │ │ │ │ ├── contours_progress.mp4 │ │ │ │ ├── learning_curve.png │ │ │ │ ├── log.txt │ │ │ │ ├── params.json │ │ │ │ ├── progress.csv │ │ │ │ └── roll_outs.mp4 │ │ └── GridWorldEnv1 │ │ │ ├── policy_typedeterministic_temperature1.0 │ │ │ ├── contour.png │ │ │ ├── contours_progress.mp4 │ │ │ ├── learning_curve.png │ │ │ ├── log.txt │ │ │ ├── params.json │ │ │ ├── progress.csv │ │ │ └── roll_outs.mp4 │ │ │ ├── policy_typemax_ent_temperature0.01 │ │ │ ├── contour.png │ │ │ ├── contours_progress.mp4 │ │ │ ├── learning_curve.png │ │ │ ├── log.txt │ │ │ ├── params.json │ │ │ ├── progress.csv │ │ │ └── roll_outs.mp4 │ │ │ ├── policy_typemax_ent_temperature1.0 │ │ │ ├── contour.png │ │ │ ├── contours_progress.mp4 │ │ │ ├── learning_curve.png │ │ │ ├── log.txt │ │ │ ├── params.json │ │ │ ├── progress.csv │ │ │ └── roll_outs.mp4 │ │ │ └── policy_typemax_ent_temperature1e-05 │ │ │ ├── contour.png │ │ │ ├── contours_progress.mp4 │ │ │ ├── learning_curve.png │ │ │ ├── log.txt │ │ │ ├── params.json │ │ │ ├── progress.csv │ │ │ └── roll_outs.mp4 │ └── part2_ab │ │ └── DoubleIntegratorEnv │ │ └── modenn_state_discretization21 │ │ ├── contour.png │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv ├── envs │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── cart_pole_env.cpython-36.pyc │ │ ├── cart_pole_env.cpython-38.pyc │ │ ├── double_integrator_env.cpython-36.pyc │ │ ├── double_integrator_env.cpython-38.pyc │ │ ├── grid1d_env.cpython-38.pyc │ │ ├── gridworld_env.cpython-38.pyc │ │ ├── mountain_hill_env.cpython-36.pyc │ │ ├── mountain_hill_env.cpython-38.pyc │ │ └── swing_up_env.cpython-38.pyc │ ├── cart_pole_env.py │ ├── double_integrator_env.py │ ├── grid1d_env.py │ ├── gridworld_env.py │ ├── mountain_hill_env.py │ └── swing_up_env.py ├── logger.py ├── neural_policy_iteration.py ├── part1 │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── logger.cpython-37.pyc │ │ └── tabular_value_iteration.cpython-38.pyc │ ├── run_part1.py │ └── tabular_value_iteration.py ├── part2 │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── discretize.cpython-38.pyc │ │ └── look_ahead_policy.cpython-38.pyc │ ├── discretize.py │ ├── look_ahead_policy.py │ ├── run_part2_ab.py │ ├── run_part2_c.py │ └── run_part2_d.py ├── part3 │ ├── __init__.py │ ├── continous_value_iteration.py │ ├── look_ahead_policy.py │ ├── run_part3_a.py │ └── run_part3_b.py ├── part4 │ ├── __init__.py │ ├── discretize.py │ └── run_part4.py ├── requirements.txt ├── utils │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── plot.cpython-38.pyc │ │ └── utils.cpython-38.pyc │ ├── plot.py │ ├── utils.py │ └── value_functions.py └── viskit │ ├── __init__.py │ ├── core.py │ ├── frontend.py │ ├── static │ ├── css │ │ ├── bootstrap.min.css │ │ └── dropdowns-enhancement.css │ └── js │ │ ├── bootstrap.min.js │ │ ├── dropdowns-enhancement.js │ │ ├── jquery-1.10.2.min.js │ │ ├── jquery.loadTemplate-1.5.6.js │ │ └── plotly-latest.min.js │ └── templates │ └── main.html ├── cs287-hw2 ├── .DS_Store ├── .ipynb_checkpoints │ ├── Untitled-checkpoint.ipynb │ ├── Untitled1-checkpoint.ipynb │ ├── Untitled2-checkpoint.ipynb │ ├── Untitled3-checkpoint.ipynb │ ├── lqr-checkpoint.ipynb │ ├── lqr-sol-checkpoint.ipynb │ └── lqr_nolonger_clean-checkpoint.ipynb ├── Cartpole-Balancing │ ├── plot_0.png │ ├── plot_1.png │ ├── plot_2.png │ ├── plot_3.png │ ├── plot_4.png │ ├── plot_noise_0.png │ ├── plot_noise_1.png │ ├── plot_noise_2.png │ ├── plot_noise_3.png │ └── plot_noise_4.png ├── Helicopter-Hovering │ ├── plot_0.png │ ├── plot_1.png │ ├── plot_2.png │ ├── plot_3.png │ ├── plot_noise_0.png │ ├── plot_noise_1.png │ ├── plot_noise_2.png │ └── plot_noise_3.png ├── Linear_System │ ├── plot_0.png │ ├── plot_1.png │ ├── plot_2.png │ ├── plot_noise_0.png │ ├── plot_noise_1.png │ └── plot_noise_2.png ├── MUJOCO_LOG.TXT ├── Perturbed-Cheetah │ ├── perturbe_0.gif │ ├── perturbe_1.gif │ ├── perturbe_10.gif │ ├── perturbe_100.gif │ └── plot_0.png ├── Perturbed-Hopper │ ├── perturbe_0.gif │ ├── perturbe_1.gif │ ├── perturbe_10.gif │ ├── perturbe_1e-1.gif │ └── plot_0.png ├── __pycache__ │ ├── rot_utils.cpython-37.pyc │ └── simulators.cpython-37.pyc ├── cs287hw2.pdf ├── environment.yml ├── envs │ ├── __pycache__ │ │ ├── cheetah_env.cpython-37.pyc │ │ └── hopper_env.cpython-37.pyc │ ├── cheetah_env.py │ └── hopper_env.py ├── img │ ├── fig_a.png │ ├── ref_a.png │ ├── ref_b_cartpole.png │ └── ref_b_heli.png ├── lqr.ipynb ├── mats │ ├── cartpole_traj.mat │ ├── heli_traj.mat │ ├── p_a_w.mat │ ├── p_b_w.mat │ ├── p_c_heli_starting_states.mat │ └── p_c_w.mat ├── requirements.txt ├── rot_utils.py ├── simulators.py ├── test_mujoco.py └── vids │ └── visualization_hopper.gif ├── cs287-hw3 ├── .DS_Store ├── .idea │ ├── .gitignore │ ├── assignment2.iml │ ├── inspectionProfiles │ │ 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