├── .gitignore ├── README.md ├── docs ├── index.html └── resources │ ├── block_stacking_sparse_results.png │ ├── clvr_icon.png │ ├── env_videos │ ├── blocks_demo_0.mp4 │ ├── blocks_demo_1.mp4 │ ├── blocks_demo_2.mp4 │ ├── blocks_demo_3.mp4 │ ├── blocks_test.mp4 │ ├── kitchen_demo_0.mp4 │ ├── kitchen_demo_1.mp4 │ ├── kitchen_demo_2.mp4 │ ├── kitchen_demo_3.mp4 │ ├── kitchen_test.mp4 │ ├── maze_demo_0.mp4 │ ├── maze_demo_1.mp4 │ ├── maze_demo_2.mp4 │ ├── maze_demo_3.mp4 │ └── maze_test.mp4 │ ├── kitchen_results_cl.png │ ├── policy_videos │ ├── flat_prior.mp4 │ ├── no_prior.mp4 │ ├── ours.mp4 │ └── sac.mp4 │ ├── skill_model.png │ ├── skill_prior_rl.png │ ├── spirl_exploration.png │ ├── spirl_quantitative_results.png │ └── spirl_teaser.png ├── requirements.txt ├── setup.py └── spirl ├── __init__.py ├── components ├── __init__.py ├── base_model.py ├── checkpointer.py ├── data_loader.py ├── evaluator.py ├── logger.py ├── params.py └── trainer_base.py ├── configs ├── data_collect │ └── block_stacking │ │ └── conf.py ├── default_data_configs │ ├── block_stacking.py │ ├── kitchen.py │ ├── maze.py │ └── office.py ├── hrl │ ├── block_stacking │ │ ├── base_conf.py │ │ ├── no_prior │ │ │ └── conf.py │ │ ├── spirl │ │ │ └── conf.py │ │ └── spirl_cl │ │ │ └── conf.py │ ├── kitchen │ │ ├── base_conf.py │ │ ├── no_prior │ │ │ └── conf.py │ │ ├── spirl │ │ │ └── conf.py │ │ └── spirl_cl │ │ │ └── conf.py │ ├── maze │ │ ├── base_conf.py │ │ ├── no_prior │ │ │ └── conf.py │ │ ├── spirl │ │ │ └── conf.py │ │ └── spirl_cl │ │ │ └── conf.py │ └── office │ │ └── conf.py ├── rl │ ├── block_stacking │ │ ├── SAC │ │ │ └── conf.py │ │ ├── base_conf.py │ │ └── prior_initialized │ │ │ ├── base_conf.py │ │ │ ├── bc_finetune │ │ │ └── conf.py │ │ │ └── flat_prior │ │ │ └── conf.py │ ├── kitchen │ │ ├── SAC │ │ │ └── conf.py │ │ ├── base_conf.py │ │ └── prior_initialized │ │ │ ├── base_conf.py │ │ │ ├── bc_finetune │ │ │ └── conf.py │ │ │ └── flat_prior │ │ │ └── conf.py │ └── maze │ │ ├── SAC │ │ └── conf.py │ │ ├── base_conf.py │ │ └── prior_initialized │ │ ├── base_conf.py │ │ ├── bc_finetune │ │ └── conf.py │ │ └── flat_prior │ │ └── conf.py └── skill_prior_learning │ ├── block_stacking │ ├── flat │ │ └── conf.py │ ├── hierarchical │ │ └── conf.py │ └── hierarchical_cl │ │ ├── README.md │ │ └── conf.py │ ├── kitchen │ ├── flat │ │ └── conf.py │ ├── hierarchical │ │ └── conf.py │ └── hierarchical_cl │ │ ├── README.md │ │ └── conf.py │ ├── maze │ ├── flat │ │ └── conf.py │ ├── hierarchical │ │ └── conf.py │ └── hierarchical_cl │ │ └── conf.py │ └── office │ └── hierarchical_cl │ └── conf.py ├── data ├── README.md ├── __init__.py ├── block_stacking │ ├── __init__.py │ ├── assets │ │ ├── gripper_only_robot.xml │ │ └── textures │ │ │ ├── obj0.png │ │ │ ├── obj1.png │ │ │ ├── obj2.png │ │ │ ├── obj3.png │ │ │ ├── obj4.png │ │ │ ├── obj5.png │ │ │ ├── obj6.png │ │ │ ├── obj7.png │ │ │ ├── obj8.png │ │ │ └── obj9.png │ └── src │ │ ├── __init__.py │ │ ├── block_stacking_data_loader.py │ │ ├── block_stacking_env.py │ │ ├── block_stacking_logger.py │ │ ├── block_task_generator.py │ │ ├── demo_gen │ │ ├── block_demo_policy.py │ │ └── block_stacking_demo_agent.py │ │ ├── robosuite │ │ ├── __init__.py │ │ ├── controllers │ │ │ ├── __init__.py │ │ │ ├── baxter_ik_controller.py │ │ │ ├── controller.py │ │ │ └── sawyer_ik_controller.py │ │ ├── demo.py │ │ ├── devices │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── device.py │ │ │ ├── keyboard.py │ │ │ └── spacemouse.py │ │ ├── environments │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── baxter.py │ │ │ ├── baxter_lift.py │ │ │ ├── baxter_modified.py │ │ │ ├── baxter_peg_in_hole.py │ │ │ ├── sawyer.py │ │ │ ├── sawyer_lift.py │ │ │ ├── sawyer_nut_assembly.py │ │ │ ├── sawyer_pick_place.py │ │ │ └── sawyer_stack.py │ │ ├── models │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── arenas │ │ │ │ ├── __init__.py │ │ │ │ ├── arena.py │ │ │ │ ├── bins_arena.py │ │ │ │ ├── empty_arena.py │ │ │ │ ├── pegs_arena.py │ │ │ │ └── table_arena.py │ │ │ ├── assets │ │ │ │ ├── arenas │ │ │ │ │ ├── bins_arena.xml │ │ │ │ │ ├── empty_arena.xml │ │ │ │ │ ├── pegs_arena.xml │ │ │ │ │ └── table_arena.xml │ │ │ │ ├── base.xml │ │ │ │ ├── grippers │ │ │ │ │ ├── left_two_finger_gripper.xml │ │ │ │ │ ├── meshes │ │ │ │ │ │ ├── deprecated │ │ │ │ │ │ │ ├── basic_hard_tip.STL │ │ │ │ │ │ │ ├── basic_soft_tip.STL │ │ │ │ │ │ │ ├── electric_gripper_w_fingers.STL │ │ │ │ │ │ │ ├── extended_narrow.STL │ │ │ │ │ │ │ ├── extended_wide.STL │ │ │ │ │ │ │ ├── limiter.STL │ │ │ │ │ │ │ ├── paddle_tip.STL │ │ │ │ │ │ │ └── standard_wide.STL │ │ │ │ │ │ ├── pr2_gripper │ │ │ │ │ │ │ ├── gripper_palm.stl │ │ │ │ │ │ │ ├── l_finger.stl │ │ │ │ │ │ │ └── l_finger_tip.stl │ │ │ │ │ │ ├── robotiq_gripper │ │ │ │ │ │ │ ├── adapter_plate.dae.stl │ │ │ │ │ │ │ ├── adapter_plate.stl │ │ │ │ │ │ │ ├── robotiq_85_gripper_adapter_plate.stl │ │ │ │ │ │ │ ├── robotiq_85_gripper_base.stl │ │ │ │ │ │ │ ├── robotiq_85_gripper_joint_0_L.stl │ │ │ │ │ │ │ ├── robotiq_85_gripper_joint_0_R.stl │ │ │ │ │ │ │ ├── robotiq_85_gripper_joint_1_L.stl │ │ │ │ │ │ │ ├── robotiq_85_gripper_joint_1_R.stl │ │ │ │ │ │ │ ├── robotiq_85_gripper_joint_2_L.stl │ │ │ │ │ │ │ ├── robotiq_85_gripper_joint_2_R.stl │ │ │ │ │ │ │ ├── robotiq_85_gripper_joint_3_L.stl │ │ │ │ │ │ │ └── robotiq_85_gripper_joint_3_R.stl │ │ │ │ │ │ ├── robotiq_s_gripper │ │ │ │ │ │ │ ├── link_0.STL │ │ │ │ │ │ │ ├── link_1.STL │ │ │ │ │ │ │ ├── link_2.STL │ │ │ │ │ │ │ ├── link_3.STL │ │ │ │ │ │ │ └── palm.STL │ │ │ │ │ │ └── two_finger_gripper │ │ │ │ │ │ │ ├── electric_gripper_base.STL │ │ │ │ │ │ │ ├── half_round_tip.STL │ │ │ │ │ │ │ └── standard_narrow.STL │ │ │ │ │ ├── pr2_gripper.xml │ │ │ │ │ ├── robotiq_gripper.xml │ │ │ │ │ ├── robotiq_gripper_s.xml │ │ │ │ │ └── two_finger_gripper.xml │ │ │ │ ├── objects │ │ │ │ │ ├── bottle.xml │ │ │ │ │ ├── bread-visual.xml │ │ │ │ │ ├── bread.xml │ │ │ │ │ ├── can-visual.xml │ │ │ │ │ ├── can.xml │ │ │ │ │ ├── cereal-visual.xml │ │ │ │ │ ├── cereal.xml │ │ │ │ │ ├── lemon.xml │ │ │ │ │ ├── meshes │ │ │ │ │ │ ├── bottle.stl │ │ │ │ │ │ ├── bread.stl │ │ │ │ │ │ ├── can.stl │ │ │ │ │ │ ├── cereal.stl │ │ │ │ │ │ ├── handles.stl │ │ │ │ │ │ ├── lemon.stl │ │ │ │ │ │ └── milk.stl │ │ │ │ │ ├── milk-visual.xml │ │ │ │ │ ├── milk.xml │ │ │ │ │ ├── plate-with-hole.xml │ │ │ │ │ ├── round-nut.xml │ │ │ │ │ └── square-nut.xml │ │ │ │ └── textures │ │ │ │ │ ├── bread.png │ │ │ │ │ ├── can.png │ │ │ │ │ ├── ceramic.png │ │ │ │ │ ├── cereal.png │ │ │ │ │ ├── clay.png │ │ │ │ │ ├── dark-wood.png │ │ │ │ │ ├── glass.png │ │ │ │ │ ├── lemon.png │ │ │ │ │ ├── light-wood.png │ │ │ │ │ └── metal.png │ │ │ ├── base.py │ │ │ ├── grippers │ │ │ │ ├── __init__.py │ │ │ │ ├── gripper.py │ │ │ │ ├── gripper_factory.py │ │ │ │ ├── gripper_tester.py │ │ │ │ ├── pr2_gripper.py │ │ │ │ ├── pushing_gripper.py │ │ │ │ ├── robotiq_gripper.py │ │ │ │ ├── robotiq_three_finger_gripper.py │ │ │ │ └── two_finger_gripper.py │ │ │ ├── objects │ │ │ │ ├── __init__.py │ │ │ │ ├── generated_objects.py │ │ │ │ ├── objects.py │ │ │ │ └── xml_objects.py │ │ │ ├── robots │ │ │ │ ├── __init__.py │ │ │ │ ├── baxter_robot.py │ │ │ │ ├── robot.py │ │ │ │ └── sawyer_robot.py │ │ │ ├── tasks │ │ │ │ ├── __init__.py │ │ │ │ ├── nut_assembly_task.py │ │ │ │ ├── pick_place_task.py │ │ │ │ ├── placement_sampler.py │ │ │ │ ├── table_top_task.py │ │ │ │ └── task.py │ │ │ └── world.py │ │ ├── scripts │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── browse_mjcf_model.py │ │ │ ├── collect_human_demonstrations.py │ │ │ ├── compile_mjcf_model.py │ │ │ ├── demo_baxter_ik_control.py │ │ │ ├── demo_collect_and_playback_data.py │ │ │ ├── demo_device_ik_control.py │ │ │ ├── demo_gripper_interaction.py │ │ │ ├── demo_gripper_selection.py │ │ │ ├── demo_gym_functionality.py │ │ │ ├── demo_learning_curriculum.py │ │ │ ├── demo_pygame_renderer.py │ │ │ ├── demo_video_recording.py │ │ │ └── playback_demonstrations_from_hdf5.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── errors.py │ │ │ ├── mjcf_utils.py │ │ │ ├── mujoco_py_renderer.py │ │ │ └── transform_utils.py │ │ └── wrappers │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── data_collection_wrapper.py │ │ │ ├── demo_sampler_wrapper.py │ │ │ ├── gym_wrapper.py │ │ │ ├── ik_wrapper.py │ │ │ └── wrapper.py │ │ └── utils │ │ ├── block.py │ │ ├── block_placement_helper.py │ │ ├── gripper_only_robot.py │ │ ├── numbered_box_object.py │ │ ├── utils.py │ │ └── wide_range_gripper.py ├── kitchen │ └── src │ │ └── kitchen_data_loader.py ├── maze │ └── src │ │ ├── maze_agents.py │ │ └── maze_data_loader.py ├── office │ └── README.md └── pretrained_models.md ├── models ├── __init__.py ├── bc_mdl.py ├── closed_loop_spirl_mdl.py └── skill_prior_mdl.py ├── modules ├── __init__.py ├── flow_models.py ├── layers.py ├── losses.py ├── mdn.py ├── recurrent_modules.py ├── subnetworks.py └── variational_inference.py ├── rl ├── agents │ ├── ac_agent.py │ ├── prior_sac_agent.py │ └── skill_space_agent.py ├── components │ ├── agent.py │ ├── critic.py │ ├── environment.py │ ├── normalization.py │ ├── params.py │ ├── policy.py │ ├── replay_buffer.py │ └── sampler.py ├── envs │ ├── block_stacking.py │ ├── kitchen.py │ ├── maze.py │ └── office.py ├── policies │ ├── basic_policies.py │ ├── cl_model_policies.py │ ├── mlp_policies.py │ └── prior_policies.py ├── train.py └── utils │ ├── mpi.py │ ├── reward_fcns.py │ ├── robosuite_utils.py │ ├── rollout_utils.py │ └── wandb.py ├── train.py └── utils ├── __init__.py ├── data_utils.py ├── dist_utils.py ├── eval_utils.py ├── general_utils.py ├── ndim.py ├── pytorch_utils.py ├── scripts ├── clear_checkpoints.py └── clear_replay_buffers.py ├── video_utils.py ├── vis_utils.py └── wandb.py /.gitignore: -------------------------------------------------------------------------------- 1 | .idea 2 | __pycache__ 3 | *.egg-info 4 | 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