├── .gitignore ├── LICENSE ├── README.md ├── bullet-gym-primitive ├── Trainer.py ├── agents │ ├── KerasCEMAgent.py │ ├── KerasDDPGAgent.py │ ├── KerasDDQNAgent.py │ ├── KerasDQNAgent.py │ ├── KerasNAFAgent.py │ ├── TemplateAgent.py │ └── __init__.py ├── checkpoints │ ├── KerasCEM-CartPolev0-chkpt-0.h5 │ ├── KerasCEM-D2DCartPolev0-chkpt-0.h5 │ ├── KerasDDPG-CartPolev0-chkpt-1_actor.h5 │ ├── KerasDDPG-CartPolev0-chkpt-1_critic.h5 │ ├── KerasDDPG-MJCFInvPendulumv0-170408121417_actor.h5 │ ├── KerasDDPG-MJCFInvPendulumv0-170408121417_critic.h5 │ ├── KerasDDPG-Motionv0-170315202432_actor.h5 │ ├── KerasDDPG-Motionv0-170315202432_critic.h5 │ ├── KerasDDPG-Motionv0-170315211110_actor.h5 │ ├── KerasDDPG-Motionv0-170315211110_critic.h5 │ ├── KerasDDQN-CartPolev0-chkpt-1.h5 │ ├── KerasDDQN-CartPolev0-chkpt-2.h5 │ ├── KerasDDQN-D2DCartPolev0-chkpt-1.h5 │ ├── KerasDQN-CartPolev0-chkpt-1.h5 │ ├── KerasDQN-D2DCartPolev0-chkpt-1.h5 │ ├── KerasNAF-CartPolev0-chkpt-0.h5 │ └── KerasNAF-D2DCartPolev0-chkpt-1.h5 ├── envs │ ├── CartPolev0Env.py │ ├── Detached2DCartPolev0Env.py │ ├── MJCF2InvPendulumv0Env.py │ ├── MJCFCommon.py │ ├── MJCFHopperv0Env.py │ ├── MJCFInvPendulumv0Env.py │ ├── MJCFReacherv0Env.py │ ├── Motionv0Env.py │ ├── RewardFunction.py │ ├── TemplateEnv.py │ ├── VelocityHelper.py │ ├── __init__.py │ ├── environment-tester.py │ └── models │ │ ├── cart.urdf │ │ ├── cartpolev0.urdf │ │ ├── ground.urdf │ │ ├── mjcf-model-tester.py │ │ ├── mjcf │ │ ├── ant.xml │ │ ├── half_cheetah.xml │ │ ├── hopper.xml │ │ ├── humanoid_symmetric.xml │ │ ├── humanoidstandup.xml │ │ ├── inverted_double_pendulum.xml │ │ ├── inverted_pendulum.xml │ │ ├── point.xml │ │ ├── reacher.xml │ │ ├── swimmer.xml │ │ └── walker2d.xml │ │ ├── morphology-tester.py │ │ ├── phantomx │ │ ├── meshes │ │ │ ├── body.STL │ │ │ ├── body_coll.STL │ │ │ ├── body_low.STL │ │ │ ├── connect.STL │ │ │ ├── connect_coll.STL │ │ │ ├── connect_low.STL │ │ │ ├── thigh_l.STL │ │ │ ├── thigh_l_coll.STL │ │ │ ├── thigh_l_low.STL │ │ │ ├── thigh_r.STL │ │ │ ├── thigh_r_low.STL │ │ │ ├── tibia_l.STL │ │ │ ├── tibia_l_coll.STL │ │ │ ├── tibia_l_low.STL │ │ │ ├── tibia_r.STL │ │ │ └── tibia_r_low.STL │ │ ├── phantomx.urdf │ │ └── phantomx.xacro │ │ ├── pole.urdf │ │ ├── simple-snakev0.urdf │ │ ├── snake.xacro │ │ ├── springy-snakev0.urdf │ │ └── xacro_standalone.py ├── runTrainer.py ├── showKerasCEMCartPoleExample.py ├── showKerasCEMDetached2DCartPoleExample.py ├── showKerasDDPGCartPoleExample.py ├── showKerasDDPGDetached2DCartPoleExample.py ├── showKerasDDPGMotionExample.py ├── showKerasDDQNCartPoleExample.py ├── showKerasDDQNDetached2DCartPoleExample.py ├── showKerasDQNCartPoleExample.py ├── showKerasDQNDetached2DCartPoleExample.py ├── showKerasNAFCartPoleExample.py ├── showKerasNAFDetached2DCartPoleExample.py ├── showKerasNAFMotionExample.py ├── trainKerasCEMCartPoleExample.py ├── trainKerasCEMDetached2DCartPoleExample.py ├── trainKerasDDPGCartPoleExample.py ├── trainKerasDDPGDetached2DCartPoleExample.py ├── trainKerasDDPGMJCF2InvPendulumExample.py ├── trainKerasDDPGMJCFHopperExample.py ├── trainKerasDDPGMJCFInvPendulumExample.py ├── trainKerasDDPGMJCFReacherExample.py ├── trainKerasDDPGMotionExample.py ├── trainKerasDDQNCartPoleExample.py ├── trainKerasDDQNDetached2DCartPoleExample.py ├── trainKerasDQNCartPoleExample.py ├── trainKerasDQNDetached2DCartPoleExample.py ├── trainKerasNAFCartPoleExample.py ├── trainKerasNAFDetached2DCartPoleExample.py └── trainKerasNAFMotionExample.py └── pybulletgym ├── Trainer.py ├── __init__.py ├── agents ├── BaselinesDQNAgent.py ├── KerasCEMAgent.py ├── KerasDDPGAgent.py ├── KerasDDQNAgent.py ├── KerasDQNAgent.py ├── KerasNAFAgent.py ├── TemplateAgent.py ├── __init__.py └── agent_register.py ├── enjoy_KerasDDPG-PybulletInvertedDoublePendulum.py ├── enjoy_KerasDDPG-PybulletInvertedPendulum.py ├── enjoy_KerasDDPG-PybulletInvertedPendulumSwingup.py ├── enjoy_KerasDDPG-PybulletReacher.py ├── enjoy_TF_PybulletHumanoid_v0_2017may.py ├── enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py ├── enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py ├── enjoy_TF_PybulletInvertedPendulum_v0_2017may.py ├── envs ├── __init__.py ├── gym_forward_walkers.py ├── gym_humanoid_flagrun.py ├── gym_manipulators.py ├── gym_mujoco_xml_env.py ├── gym_pendula.py ├── gym_pong.py ├── kerasrl_utils.py ├── mujoco_assets │ ├── ant.xml │ ├── ground_plane.xml │ ├── half_cheetah.xml │ ├── hopper.xml │ ├── humanoid_symmetric.xml │ ├── inverted_double_pendulum.xml │ ├── inverted_pendulum.xml │ ├── pusher.xml │ ├── reacher.xml │ ├── striker.xml │ ├── thrower.xml │ └── walker2d.xml ├── other_assets │ ├── roboschool │ │ └── models_outdoor │ │ │ └── stadium │ │ │ ├── part0.obj │ │ │ ├── part1.obj │ │ │ ├── part2.obj │ │ │ ├── stadium.mtl │ │ │ ├── stadium.obj │ │ │ └── stadium_grass.jpg │ └── stadium.sdf ├── scene_abstract.py └── scene_stadium.py ├── train_KerasDDPG_PybulletHopper.py ├── 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