├── .gitignore ├── .travis.yml ├── LICENSE ├── README.md ├── docs ├── HER.md ├── RIG.md ├── SkewFit.md ├── TDMs.md ├── goal_based_envs.md └── images │ ├── FetchReach-v1_HER-TD3.png │ ├── SawyerReachXYZEnv-v0_HER-TD3.png │ ├── her_dqn.png │ ├── her_td3_sawyer_reacher.png │ ├── skewfit_door.png │ ├── skewfit_pickup.png │ └── skewfit_pusher.png ├── environment ├── docker │ ├── Dockerfile │ └── vendor │ │ ├── 10_nvidia.json │ │ ├── Xdummy │ │ └── Xdummy-entrypoint ├── linux-cpu-env.yml ├── linux-gpu-env.yml └── mac-env.yml ├── examples ├── awac │ ├── README.md │ ├── hand │ │ └── awac1.py │ └── mujoco │ │ └── awac1.py ├── ddpg.py ├── doodad │ ├── ec2_example.py │ └── gcp_example.py ├── dqn_and_double_dqn.py ├── her │ ├── her_dqn_gridworld.py │ ├── her_sac_gym_fetch_reach.py │ └── her_td3_multiworld_sawyer_reach.py ├── sac.py ├── skewfit │ ├── sawyer_door.py │ ├── sawyer_pickup.py │ └── sawyer_push.py ├── td3.py └── val │ ├── README.md │ ├── full1.py │ ├── pretrained1.py │ ├── pretrained_objects1.py │ ├── pretrained_quick1.py │ └── trace_presampled1.py ├── rlkit ├── __init__.py ├── core │ ├── __init__.py │ ├── batch_rl_algorithm.py │ ├── distribution.py │ ├── eval_util.py │ ├── logging.py │ ├── loss.py │ ├── online_rl_algorithm.py │ ├── rl_algorithm.py │ ├── serializable.py │ ├── tabulate.py │ ├── trainer.py │ └── util.py ├── data_management │ ├── __init__.py │ ├── contextual_replay_buffer.py │ ├── dataset.py │ ├── env_replay_buffer.py │ ├── images.py │ ├── normalizer.py │ ├── obs_dict_replay_buffer.py │ ├── online_vae_replay_buffer.py │ ├── path_builder.py │ ├── replay_buffer.py │ ├── shared_obs_dict_replay_buffer.py │ ├── simple_replay_buffer.py │ ├── split_buffer.py │ └── wrappers │ │ ├── concat_to_obs_wrapper.py │ │ ├── proxy_buffer.py │ │ └── replay_buffer_wrapper.py ├── demos │ ├── __init__.py │ ├── collect_demo.py │ ├── play_demo.py │ ├── source │ │ ├── __init__.py │ │ ├── demo_source.py │ │ ├── dict_to_mdp_path_loader.py │ │ ├── encoder_dict_to_mdp_path_loader.py │ │ ├── hand_demo_source.py │ │ ├── hdf5_path_loader.py │ │ ├── mdp_path_loader.py │ │ └── path_loader.py │ └── spacemouse │ │ ├── README.md │ │ ├── __init__.py │ │ ├── input_client.py │ │ └── input_server.py ├── envs │ ├── __init__.py │ ├── ant.py │ ├── assets │ │ ├── low_gear_ratio_ant.xml │ │ └── reacher_7dof.xml │ ├── contextual │ │ ├── __init__.py │ │ ├── contextual_env.py │ │ ├── goal_conditioned.py │ │ ├── gym_goal_envs.py │ │ ├── latent_distributions.py │ │ ├── mask_conditioned.py │ │ ├── set_distributions.py │ │ └── task_conditioned.py │ ├── dual_encoder_wrapper.py │ ├── encoder_wrappers.py │ ├── env_utils.py │ ├── goal_generation │ │ └── pickup_goal_dataset.py │ ├── images │ │ ├── __init__.py │ │ ├── env_renderer.py │ │ ├── insert_image_env.py │ │ ├── plot_renderer.py │ │ ├── renderer.py │ │ └── text_renderer.py │ ├── make_env.py │ ├── mujoco_env.py │ ├── mujoco_image_env.py │ ├── proxy_env.py │ ├── reward_mask_wrapper.py │ ├── vae_wrapper.py │ ├── vae_wrappers.py │ ├── wrappers.py │ └── wrappers │ │ ├── __init__.py │ │ ├── discretize_env.py │ │ ├── history_env.py │ │ ├── image_mujoco_env.py │ │ ├── image_mujoco_env_with_obs.py │ │ ├── normalized_box_env.py │ │ ├── reward_wrapper_env.py │ │ └── stack_observation_env.py ├── exploration_strategies │ ├── __init__.py │ ├── base.py │ ├── epsilon_greedy.py │ ├── gaussian_and_epsilon_strategy.py │ ├── gaussian_strategy.py │ └── ou_strategy.py ├── launchers │ ├── __init__.py │ ├── arglauncher.py │ ├── conf.py │ ├── contextual │ │ ├── __init__.py │ │ ├── gym_goal_env.py │ │ ├── image_based.py │ │ ├── rig │ │ │ ├── __init__.py │ │ │ ├── dataset_launcher.py │ │ │ ├── model_train_launcher.py │ │ │ └── rig_launcher.py │ │ ├── state_based.py │ │ ├── state_based_masking.py │ │ └── util.py │ ├── experiments │ │ ├── ashvin │ │ │ ├── awac_rig.py │ │ │ └── pixelcnn_launcher.py │ │ └── awac │ │ │ ├── __init__.py │ │ │ ├── awac_encoder_rl.py │ │ │ ├── awac_gcrl.py │ │ │ └── awac_rl.py │ ├── launcher_util.py │ ├── rl_exp_launcher_util.py │ └── skewfit_experiments.py ├── policies │ ├── __init__.py │ ├── action_repeat.py │ ├── argmax.py │ ├── base.py │ └── simple.py ├── pythonplusplus.py ├── samplers │ ├── __init__.py │ ├── data_collector │ │ ├── __init__.py │ │ ├── base.py │ │ ├── contextual_path_collector.py │ │ ├── joint_path_collector.py │ │ ├── path_collector.py │ │ ├── step_collector.py │ │ └── vae_env.py │ ├── in_place.py │ ├── rollout_functions.py │ └── util.py ├── torch │ ├── __init__.py │ ├── conv_networks.py │ ├── core.py │ ├── data.py │ ├── data_management │ │ ├── __init__.py │ │ └── normalizer.py │ ├── ddpg │ │ ├── __init__.py │ │ └── ddpg.py │ ├── distributions.py │ ├── dqn │ │ ├── __init__.py │ │ ├── double_dqn.py │ │ └── dqn.py │ ├── gan │ │ ├── bigan.py │ │ ├── bigan_trainer.py │ │ ├── dcgan.py │ │ ├── dcgan_trainer.py │ │ └── nearest_neighbors.py │ ├── grill │ │ └── common.py │ ├── her │ │ ├── __init__.py │ │ └── her.py │ ├── lvm │ │ ├── __init__.py │ │ ├── bear_vae.py │ │ └── latent_variable_model.py │ ├── modules.py │ ├── networks │ │ ├── __init__.py │ │ ├── basic.py │ │ ├── cnn.py │ │ ├── custom.py │ │ ├── dcnn.py │ │ ├── feat_point_mlp.py │ │ ├── image_state.py │ │ ├── linear_transform.py │ │ ├── mlp.py │ │ ├── normalization.py │ │ ├── pretrained_cnn.py │ │ ├── stochastic │ │ │ └── distribution_generator.py │ │ └── two_headed_mlp.py │ ├── pytorch_util.py │ ├── sac │ │ ├── __init__.py │ │ ├── awac_trainer.py │ │ ├── policies │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── gaussian_policy.py │ │ │ ├── lvm_policy.py │ │ │ └── policy_from_q.py │ │ └── sac.py │ ├── skewfit │ │ ├── online_vae_algorithm.py │ │ └── video_gen.py │ ├── td3 │ │ ├── __init__.py │ │ └── td3.py │ ├── torch_rl_algorithm.py │ └── vae │ │ ├── conv_vae.py │ │ ├── init_state_pixelcnn_trainer_uncond.py │ │ ├── initial_state_pixelcnn.py │ │ ├── initial_state_pixelcnn_trainer.py │ │ ├── pixelcnn_trainer.py │ │ ├── pixelcnn_utils.py │ │ ├── vae_base.py 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