├── .catkin_workspace ├── .gitignore ├── LICENSE ├── README.md ├── images ├── control_interface.jpeg └── environment.png └── src ├── CMakeLists.txt ├── gym ├── .dockerignore ├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── CODE_OF_CONDUCT.rst ├── Dockerfile ├── LICENSE ├── Makefile ├── README.rst ├── bin │ └── docker_entrypoint ├── docs │ ├── agents.md │ ├── environments.md │ ├── misc.md │ └── readme.md ├── examples │ ├── agents │ │ ├── _policies.py │ │ ├── cem.py │ │ ├── keyboard_agent.py │ │ ├── random_agent.py │ │ └── tabular_q_agent.py │ └── scripts │ │ ├── benchmark_runner │ │ ├── list_envs │ │ ├── play_go │ │ ├── sim_env │ │ └── upload ├── gym │ ├── __init__.py │ ├── benchmarks │ │ ├── __init__.py │ │ ├── registration.py │ │ ├── scoring.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ └── test_benchmark.py │ ├── configuration.py │ ├── core.py │ ├── envs │ │ ├── README.md │ │ ├── __init__.py │ │ ├── algorithmic │ │ │ ├── __init__.py │ │ │ ├── algorithmic_env.py │ │ │ ├── copy_.py │ │ │ ├── duplicated_input.py │ │ │ ├── repeat_copy.py │ │ │ ├── reverse.py │ │ │ ├── reversed_addition.py │ │ │ └── tests │ │ │ │ ├── __init__.py │ │ │ │ └── test_algorithmic.py │ │ ├── atari │ │ │ ├── __init__.py │ │ │ └── atari_env.py │ │ ├── board_game │ │ │ ├── __init__.py │ │ │ ├── go.py │ │ │ └── hex.py │ │ ├── box2d │ │ │ ├── __init__.py │ │ │ ├── bipedal_walker.py │ │ │ ├── car_dynamics.py │ │ │ ├── car_racing.py │ │ │ ├── car_racing_augmented.py │ │ │ ├── lunar_lander.py │ │ │ └── lunar_lander_multi_fire.py │ │ ├── classic_control │ │ │ ├── __init__.py │ │ │ ├── acrobot.py │ │ │ ├── assets │ │ │ │ └── clockwise.png │ │ │ ├── cartpole.py │ │ │ ├── continuous_mountain_car.py │ │ │ ├── mountain_car.py │ │ │ ├── pendulum.py │ │ │ └── rendering.py │ │ ├── debugging │ │ │ ├── __init__.py │ │ │ ├── one_round_deterministic_reward.py │ │ │ ├── one_round_nondeterministic_reward.py │ │ │ ├── two_round_deterministic_reward.py │ │ │ └── two_round_nondeterministic_reward.py │ │ ├── mujoco │ │ │ ├── __init__.py │ │ │ ├── ant.py │ │ │ ├── assets │ │ │ │ ├── ant.xml │ │ │ │ ├── half_cheetah.xml │ │ │ │ ├── hopper.xml │ │ │ │ ├── humanoid.xml │ │ │ │ ├── humanoidstandup.xml │ │ │ │ ├── inverted_double_pendulum.xml │ │ │ │ ├── inverted_pendulum.xml │ │ │ │ ├── point.xml │ │ │ │ ├── reacher.xml │ │ │ │ ├── swimmer.xml │ │ │ │ └── walker2d.xml │ │ │ ├── half_cheetah.py │ │ │ ├── hopper.py │ │ │ ├── humanoid.py │ │ │ ├── humanoidstandup.py │ │ │ ├── inverted_double_pendulum.py │ │ │ ├── inverted_pendulum.py │ │ │ ├── mujoco_env.py │ │ │ ├── reacher.py │ │ │ ├── swimmer.py │ │ │ └── walker2d.py │ │ ├── parameter_tuning │ │ │ ├── __init__.py │ │ │ ├── convergence.py │ │ │ └── train_deep_cnn.py │ │ ├── registration.py │ │ ├── safety │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── offswitch_cartpole.py │ │ │ ├── offswitch_cartpole_prob.py │ │ │ ├── predict_actions_cartpole.py │ │ │ ├── predict_obs_cartpole.py │ │ │ └── semisuper.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── rollout.json │ │ │ ├── test_determinism.py │ │ │ ├── test_envs.py │ │ │ ├── test_envs_semantics.py │ │ │ ├── test_registration.py │ │ │ └── test_safety_envs.py │ │ └── toy_text │ │ │ ├── __init__.py │ │ │ ├── blackjack.py │ │ │ ├── discrete.py │ │ │ ├── frozen_lake.py │ │ │ ├── guessing_game.py │ │ │ ├── hotter_colder.py │ │ │ ├── nchain.py │ │ │ ├── roulette.py │ │ │ └── taxi.py │ ├── error.py │ ├── monitoring │ │ ├── __init__.py │ │ ├── monitor_manager.py │ │ ├── stats_recorder.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── helpers.py │ │ │ ├── test_monitor.py │ │ │ └── test_video_recorder.py │ │ └── video_recorder.py │ ├── scoreboard │ │ ├── __init__.py │ │ ├── api.py │ │ ├── client │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── api_requestor.py │ │ │ ├── http_client.py │ │ │ ├── resource.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── helper.py │ │ │ │ ├── test_evaluation.py │ │ │ │ └── test_file_upload.py │ │ │ └── util.py │ │ ├── registration.py │ │ ├── scoring.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ ├── test_registration.py │ │ │ └── test_scoring.py │ ├── spaces │ │ ├── __init__.py │ │ ├── box.py │ │ ├── discrete.py │ │ ├── multi_discrete.py │ │ ├── prng.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ └── test_spaces.py │ │ └── tuple_space.py │ ├── tests │ │ └── test_core.py │ ├── utils │ │ ├── __init__.py │ │ ├── atomic_write.py │ │ ├── closer.py │ │ ├── colorize.py │ │ ├── ezpickle.py │ │ ├── json_utils.py │ │ ├── reraise.py │ │ ├── reraise_impl_py2.py │ │ ├── reraise_impl_py3.py │ │ ├── seeding.py │ │ └── tests │ │ │ ├── test_atexit.py │ │ │ └── test_seeding.py │ ├── version.py │ └── wrappers │ │ ├── README.md │ │ ├── __init__.py │ │ ├── frame_skipping.py │ │ ├── monitoring.py │ │ ├── tests │ │ ├── __init__.py │ │ └── test_wrappers.py │ │ └── time_limit.py ├── misc │ ├── check_envs_for_change.py │ ├── compare_rollout_data.py │ └── write_rollout_data.py ├── package.xml ├── requirements.txt ├── requirements_dev.txt ├── scripts │ └── generate_json.py ├── setup.py ├── test.dockerfile ├── tox.ini ├── unittest.cfg └── vendor │ └── Xdummy └── model_based_shared_control ├── CMakeLists.txt ├── config.yaml ├── data ├── README.txt └── models │ └── README.txt ├── launch ├── collect_data.launch ├── model_based_shared_control.launch ├── online_model_based_shared_control.launch └── user_only_control.launch ├── msg ├── Control.msg └── State.msg ├── package.xml ├── scripts ├── collect_data_script.py ├── model_based_shared_control_script.py └── online_model_based_shared_control_script.py └── src ├── collect_data.cpp ├── model_based_shared_control.cpp ├── online_model_based_shared_control.cpp └── robotlib ├── .DS_Store ├── dSAClib ├── SAC.hpp ├── objective.hpp └── wrap2Pi.hpp ├── dynamicalSystems ├── koopman │ ├── basis_functions │ │ ├── basis_template.hpp │ │ ├── linear_basis.hpp │ │ └── nonlinear_basis.hpp │ └── koopman_operator.hpp └── system.hpp ├── lqr_controller.hpp └── robot.hpp /.catkin_workspace: 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