├── .DS_Store ├── .flake8 ├── .gitattributes ├── .gitignore ├── .pre-commit-config.yaml ├── LICENCE ├── README.md ├── assets └── arch.gif ├── exts └── tarloco │ ├── __init__.py │ ├── config │ └── extension.toml │ ├── envs │ ├── __init__.py │ ├── mdp │ │ ├── __init__.py │ │ ├── commands.py │ │ ├── curriculums.py │ │ ├── observations.py │ │ └── rewards.py │ └── wrappers │ │ ├── __init__.py │ │ ├── evaluate_wrapper.py │ │ └── rsl_rl │ │ ├── __init__.py │ │ └── vecenv_wrapper.py │ ├── learning │ ├── __init__.py │ ├── algorithms │ │ ├── __init__.py │ │ ├── him_ppo.py │ │ ├── ppo.py │ │ ├── slr_ppo.py │ │ └── tar_ppo.py │ ├── modules │ │ ├── __init__.py │ │ ├── ac_him.py │ │ ├── ac_slr.py │ │ ├── ac_tar.py │ │ ├── base │ │ │ └── ac_base.py │ │ └── utils.py │ ├── runners │ │ ├── __init__.py │ │ ├── him_on_policy_runner.py │ │ └── on_policy_runner.py │ ├── storage │ │ ├── __init__.py │ │ ├── him_rollout_storage.py │ │ └── rollout_storage.py │ └── utils │ │ ├── __init__.py │ │ ├── optimizers.py │ │ └── utils.py │ ├── setup.py │ ├── tasks │ ├── __init__.py │ ├── agents │ │ ├── __init__.py │ │ └── rsl_rl_cfg.py │ ├── algorithms │ │ ├── __init__.py │ │ └── ppo_cfg.py │ └── envs │ │ ├── __init__.py │ │ ├── base.py │ │ └── env_cfg.py │ └── utils │ ├── __init__.py │ ├── exporter.py │ ├── importer.py │ ├── logger.py │ ├── parse_cfg.py │ ├── terrains.py │ ├── terrains_cfg.py │ └── utils.py ├── licenses ├── adabelief-optimizer-license.txt ├── black-license.txt ├── codespell-license.txt ├── flake8-license.txt ├── himloco-license.txt ├── isaaclab-license.txt ├── isort-license.txt ├── numpy_license.txt ├── onnx-license.txt ├── pre-commit-hooks-license.txt ├── pre-commit-license.txt ├── pyright-license.txt ├── pyupgrade-license.txt ├── rsl_rl-license.txt └── torch_license.txt ├── scripts ├── evaluate_batch.py └── train_seeds.sh ├── setup.py └── standalone ├── __init__.py └── tarloco ├── __init__.py ├── cli_args.py ├── evaluate.py ├── play.py └── train.py /.DS_Store: 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