├── .DS_Store ├── LICENSE ├── README.md ├── actor.py ├── agent.py ├── ant_environments ├── .DS_Store ├── ant_four_rooms_2_levels │ ├── README.md │ ├── actor.py │ ├── agent.py │ ├── critic.py │ ├── design_agent_and_env.py │ ├── environment.py │ ├── experience_buffer.py │ ├── initialize_HAC.py │ ├── layer.py │ ├── models │ │ ├── HAC.ckpt-99.data-00000-of-00001 │ │ ├── HAC.ckpt-99.index │ │ ├── HAC.ckpt-99.meta │ │ └── checkpoint │ ├── mujoco_files │ │ ├── ant_four_rooms.xml │ │ ├── ant_reacher.xml │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── materials.xml │ │ │ ├── skybox.xml │ │ │ └── visual.xml │ │ ├── muj_gripper │ │ │ ├── c_base.stl │ │ │ ├── c_forearm.stl │ │ │ ├── c_robotiq_85_gripper_joint_3_L.stl │ │ │ ├── c_robotiq_85_gripper_joint_3_R.stl │ │ │ ├── c_shoulder.stl │ │ │ ├── c_upperarm.stl │ │ │ ├── c_wrist1.stl │ │ │ ├── c_wrist2.stl │ │ │ ├── c_wrist3.stl │ │ │ ├── glass_cup.stl │ │ │ ├── glass_cup_2.stl │ │ │ ├── glass_cup_3.stl │ │ │ ├── inner_finger_coarse.stl │ │ │ ├── inner_finger_fine.stl │ │ │ ├── inner_knuckle_coarse.stl │ │ │ ├── inner_knuckle_fine.stl │ │ │ ├── new_solo_cup.stl │ │ │ ├── outer_finger_coarse.stl │ │ │ ├── outer_finger_fine.stl │ │ │ ├── outer_knuckle_coarse.stl │ │ │ ├── outer_knuckle_fine.stl │ │ │ ├── red_solo_cup.stl │ │ │ ├── robotiq_85_base_link_coarse.stl │ │ │ ├── robotiq_85_base_link_fine.stl │ │ │ ├── smaller_solo_cup.stl │ │ │ ├── solo_cup.stl │ │ │ ├── upd_solo_cup.stl │ │ │ ├── v_base.stl │ │ │ ├── v_forearm.stl │ │ │ ├── v_robotiq_85_gripper_joint_3_L.stl │ │ │ ├── v_robotiq_85_gripper_joint_3_R.stl │ │ │ ├── v_shoulder.stl │ │ │ ├── v_upperarm.stl │ │ │ ├── v_wrist1.stl │ │ │ ├── v_wrist2.stl │ │ │ └── v_wrist3.stl │ │ ├── pendulum.xml │ │ └── ur5.xml │ ├── options.py │ ├── performance_log.p │ ├── run_HAC.py │ └── utils.py ├── ant_four_rooms_3_levels │ ├── README.md │ ├── actor.py │ ├── agent.py │ ├── critic.py │ ├── design_agent_and_env.py │ ├── environment.py │ ├── experience_buffer.py │ ├── initialize_HAC.py │ ├── layer.py │ ├── mujoco_files │ │ ├── ant_four_rooms.xml │ │ ├── ant_reacher.xml │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── materials.xml │ │ │ ├── skybox.xml │ │ │ └── visual.xml │ │ ├── muj_gripper │ │ │ ├── c_base.stl │ │ │ ├── c_forearm.stl │ │ │ ├── c_robotiq_85_gripper_joint_3_L.stl │ │ │ ├── c_robotiq_85_gripper_joint_3_R.stl │ │ │ ├── c_shoulder.stl │ │ │ ├── c_upperarm.stl │ │ │ ├── c_wrist1.stl │ │ │ ├── c_wrist2.stl │ │ │ ├── c_wrist3.stl │ │ │ ├── glass_cup.stl │ │ │ ├── glass_cup_2.stl │ │ │ ├── glass_cup_3.stl │ │ │ ├── inner_finger_coarse.stl │ │ │ ├── inner_finger_fine.stl │ │ │ ├── inner_knuckle_coarse.stl │ │ │ ├── inner_knuckle_fine.stl │ │ │ ├── new_solo_cup.stl │ │ │ ├── outer_finger_coarse.stl │ │ │ ├── outer_finger_fine.stl │ │ │ ├── outer_knuckle_coarse.stl │ │ │ ├── outer_knuckle_fine.stl │ │ │ ├── red_solo_cup.stl │ │ │ ├── robotiq_85_base_link_coarse.stl │ │ │ ├── robotiq_85_base_link_fine.stl │ │ │ ├── smaller_solo_cup.stl │ │ │ ├── solo_cup.stl │ │ │ ├── upd_solo_cup.stl │ │ │ ├── v_base.stl │ │ │ ├── v_forearm.stl │ │ │ ├── v_robotiq_85_gripper_joint_3_L.stl │ │ │ ├── v_robotiq_85_gripper_joint_3_R.stl │ │ │ ├── v_shoulder.stl │ │ │ ├── v_upperarm.stl │ │ │ ├── v_wrist1.stl │ │ │ ├── v_wrist2.stl │ │ │ └── v_wrist3.stl │ │ ├── pendulum.xml │ │ └── ur5.xml │ ├── options.py │ ├── run_HAC.py │ └── utils.py ├── ant_reacher_2_levels │ ├── .DS_Store │ ├── README.md │ ├── __pycache__ │ │ ├── actor.cpython-37.pyc │ │ ├── agent.cpython-37.pyc │ │ ├── critic.cpython-37.pyc │ │ ├── design_agent_and_env.cpython-37.pyc │ │ ├── environment.cpython-37.pyc │ │ ├── experience_buffer.cpython-37.pyc │ │ ├── layer.cpython-37.pyc │ │ ├── options.cpython-37.pyc │ │ ├── run_HAC.cpython-37.pyc │ │ └── utils.cpython-37.pyc │ ├── actor.py │ ├── agent.py │ ├── critic.py │ ├── design_agent_and_env.py │ ├── environment.py │ ├── experience_buffer.py │ ├── initialize_HAC.py │ ├── layer.py │ ├── models │ │ ├── HAC.ckpt-99.data-00000-of-00001 │ │ ├── HAC.ckpt-99.index │ │ ├── HAC.ckpt-99.meta │ │ └── checkpoint │ ├── mujoco_files │ │ ├── ant_reacher.xml │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── materials.xml │ │ │ ├── skybox.xml │ │ │ └── visual.xml │ │ ├── muj_gripper │ │ │ ├── c_base.stl │ │ │ ├── c_forearm.stl │ │ │ ├── c_robotiq_85_gripper_joint_3_L.stl │ │ │ ├── c_robotiq_85_gripper_joint_3_R.stl │ │ │ ├── c_shoulder.stl │ │ │ ├── c_upperarm.stl │ │ │ ├── c_wrist1.stl │ │ │ ├── c_wrist2.stl │ │ │ ├── c_wrist3.stl │ │ │ ├── glass_cup.stl │ │ │ ├── glass_cup_2.stl │ │ │ ├── glass_cup_3.stl │ │ │ ├── inner_finger_coarse.stl │ │ │ ├── inner_finger_fine.stl │ │ │ ├── inner_knuckle_coarse.stl │ │ │ ├── inner_knuckle_fine.stl │ │ │ ├── new_solo_cup.stl │ │ │ ├── outer_finger_coarse.stl │ │ │ ├── outer_finger_fine.stl │ │ │ ├── outer_knuckle_coarse.stl │ │ │ ├── outer_knuckle_fine.stl │ │ │ ├── red_solo_cup.stl │ │ │ ├── robotiq_85_base_link_coarse.stl │ │ │ ├── robotiq_85_base_link_fine.stl │ │ │ ├── smaller_solo_cup.stl │ │ │ ├── solo_cup.stl │ │ │ ├── upd_solo_cup.stl │ │ │ ├── v_base.stl │ │ │ ├── v_forearm.stl │ │ │ ├── v_robotiq_85_gripper_joint_3_L.stl │ │ │ ├── v_robotiq_85_gripper_joint_3_R.stl │ │ │ ├── v_shoulder.stl │ │ │ ├── v_upperarm.stl │ │ │ ├── v_wrist1.stl │ │ │ ├── v_wrist2.stl │ │ │ └── v_wrist3.stl │ │ ├── pendulum.xml │ │ └── ur5.xml │ ├── options.py │ ├── run_HAC.py │ └── utils.py └── ant_reacher_3_levels │ ├── README.md │ ├── __pycache__ │ ├── actor.cpython-37.pyc │ ├── agent.cpython-37.pyc │ ├── critic.cpython-37.pyc │ ├── design_agent_and_env.cpython-37.pyc │ ├── environment.cpython-37.pyc │ ├── experience_buffer.cpython-37.pyc │ ├── layer.cpython-37.pyc │ ├── options.cpython-37.pyc │ ├── run_HAC.cpython-37.pyc │ └── utils.cpython-37.pyc │ ├── actor.py │ ├── agent.py │ ├── critic.py │ ├── design_agent_and_env.py │ ├── environment.py │ ├── experience_buffer.py │ ├── initialize_HAC.py │ ├── layer.py │ ├── models │ ├── HAC.ckpt-99.data-00000-of-00001 │ ├── HAC.ckpt-99.index │ ├── HAC.ckpt-99.meta │ └── checkpoint │ ├── mujoco_files │ ├── ant_reacher.xml │ ├── common │ │ ├── __init__.py │ │ ├── materials.xml │ │ ├── skybox.xml │ │ └── visual.xml │ ├── muj_gripper │ │ ├── c_base.stl │ │ ├── c_forearm.stl │ │ ├── c_robotiq_85_gripper_joint_3_L.stl │ │ ├── c_robotiq_85_gripper_joint_3_R.stl │ │ ├── c_shoulder.stl │ │ ├── c_upperarm.stl │ │ ├── c_wrist1.stl │ │ ├── c_wrist2.stl │ │ ├── c_wrist3.stl │ │ ├── glass_cup.stl │ │ ├── glass_cup_2.stl │ │ ├── glass_cup_3.stl │ │ ├── inner_finger_coarse.stl │ │ ├── inner_finger_fine.stl │ │ ├── inner_knuckle_coarse.stl │ │ ├── inner_knuckle_fine.stl │ │ ├── new_solo_cup.stl │ │ ├── outer_finger_coarse.stl │ │ ├── outer_finger_fine.stl │ │ ├── outer_knuckle_coarse.stl │ │ ├── outer_knuckle_fine.stl │ │ ├── red_solo_cup.stl │ │ ├── robotiq_85_base_link_coarse.stl │ │ ├── robotiq_85_base_link_fine.stl │ │ ├── smaller_solo_cup.stl │ │ ├── solo_cup.stl │ │ ├── upd_solo_cup.stl │ │ ├── v_base.stl │ │ ├── v_forearm.stl │ │ ├── v_robotiq_85_gripper_joint_3_L.stl │ │ ├── v_robotiq_85_gripper_joint_3_R.stl │ │ ├── v_shoulder.stl │ │ ├── v_upperarm.stl │ │ ├── v_wrist1.stl │ │ ├── v_wrist2.stl │ │ └── v_wrist3.stl │ ├── pendulum.xml │ └── ur5.xml │ ├── options.py │ ├── run_HAC.py │ └── utils.py ├── critic.py ├── design_agent_and_env.py ├── environment.py ├── example_designs ├── PENDULUM_LAY_1_design_agent_and_env.py ├── PENDULUM_LAY_2_design_agent_and_env.py ├── PENDULUM_LAY_3_design_agent_and_env.py ├── UR5_LAY_1_design_agent_and_env.py ├── UR5_LAY_2_design_agent_and_env.py └── UR5_LAY_3_design_agent_and_env.py ├── experience_buffer.py ├── initialize_HAC.py ├── layer.py ├── mujoco_files ├── common │ ├── __init__.py │ ├── materials.xml │ ├── skybox.xml │ └── visual.xml ├── muj_gripper │ ├── c_base.stl │ ├── c_forearm.stl │ ├── c_robotiq_85_gripper_joint_3_L.stl │ ├── c_robotiq_85_gripper_joint_3_R.stl │ ├── c_shoulder.stl │ ├── c_upperarm.stl │ ├── c_wrist1.stl │ ├── c_wrist2.stl │ ├── c_wrist3.stl │ ├── glass_cup.stl │ ├── glass_cup_2.stl │ ├── glass_cup_3.stl │ ├── inner_finger_coarse.stl │ ├── inner_finger_fine.stl │ ├── inner_knuckle_coarse.stl │ ├── inner_knuckle_fine.stl │ ├── new_solo_cup.stl │ ├── outer_finger_coarse.stl │ ├── outer_finger_fine.stl │ ├── outer_knuckle_coarse.stl │ ├── outer_knuckle_fine.stl │ ├── red_solo_cup.stl │ ├── robotiq_85_base_link_coarse.stl │ ├── robotiq_85_base_link_fine.stl │ ├── smaller_solo_cup.stl │ ├── solo_cup.stl │ ├── upd_solo_cup.stl │ ├── v_base.stl │ ├── v_forearm.stl │ ├── v_robotiq_85_gripper_joint_3_L.stl │ ├── v_robotiq_85_gripper_joint_3_R.stl │ ├── v_shoulder.stl │ ├── v_upperarm.stl │ ├── v_wrist1.stl │ ├── v_wrist2.stl │ └── v_wrist3.stl ├── pendulum.xml └── ur5.xml ├── options.py ├── run_HAC.py └── utils.py /.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/andrew-j-levy/Hierarchical-Actor-Critc-HAC-/HEAD/.DS_Store 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