├── .gitignore ├── LICENSE ├── README.md ├── drex-atari ├── LearnAtariSyntheticRankingsBinning.py ├── README.md ├── baselines │ ├── Dockerfile │ ├── LICENSE │ ├── README.md │ ├── baselines │ │ ├── __init__.py │ │ ├── a2c │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── a2c.py │ │ │ ├── runner.py │ │ │ └── utils.py │ │ ├── acer │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── acer.py │ │ │ ├── buffer.py │ │ │ ├── defaults.py │ │ │ ├── policies.py │ │ │ └── runner.py │ │ ├── acktr │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── acktr.py │ │ │ ├── defaults.py │ │ │ ├── kfac.py │ │ │ ├── kfac_utils.py │ │ │ └── utils.py │ │ ├── bench │ │ │ ├── __init__.py │ │ │ ├── benchmarks.py │ │ │ └── monitor.py │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── atari_wrappers.py │ │ │ ├── cg.py │ │ │ ├── cmd_util.py │ │ │ ├── console_util.py │ │ │ ├── custom_reward_wrapper.py │ │ │ ├── dataset.py │ │ │ ├── distributions.py │ │ │ ├── environment.yaml │ │ │ ├── input.py │ │ │ ├── math_util.py │ │ │ ├── misc_util.py │ │ │ ├── models.py │ │ │ ├── mpi_adam.py │ │ │ ├── mpi_adam_optimizer.py │ │ │ ├── mpi_fork.py │ │ │ ├── mpi_moments.py │ │ │ ├── mpi_running_mean_std.py │ │ │ ├── mpi_util.py │ │ │ ├── plot_util.py │ │ │ ├── policies.py │ │ │ ├── retro_wrappers.py │ │ │ ├── runners.py │ │ │ ├── running_mean_std.py │ │ │ ├── schedules.py │ │ │ ├── segment_tree.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── envs │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── fixed_sequence_env.py │ │ │ │ │ ├── identity_env.py │ │ │ │ │ └── mnist_env.py │ │ │ │ ├── test_cartpole.py │ │ │ │ ├── test_doc_examples.py │ │ │ │ ├── test_env_after_learn.py │ │ │ │ ├── test_fixed_sequence.py │ │ │ │ ├── test_identity.py │ │ │ │ ├── test_mnist.py │ │ │ │ ├── test_schedules.py │ │ │ │ ├── test_segment_tree.py │ │ │ │ ├── test_serialization.py │ │ │ │ ├── test_tf_util.py │ │ │ │ └── util.py │ │ │ ├── tf_util.py │ │ │ ├── tile_images.py │ │ │ ├── trex_utils.py │ │ │ └── vec_env │ │ │ │ ├── __init__.py │ │ │ │ ├── dummy_vec_env.py │ │ │ │ ├── shmem_vec_env.py │ │ │ │ ├── subproc_vec_env.py │ │ │ │ ├── test_vec_env.py │ │ │ │ ├── test_video_recorder.py │ │ │ │ ├── util.py │ │ │ │ ├── vec_frame_stack.py │ │ │ │ ├── vec_monitor.py │ │ │ │ ├── vec_normalize.py │ │ │ │ └── vec_video_recorder.py │ │ ├── ddpg │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── ddpg.py │ │ │ ├── ddpg_learner.py │ │ │ ├── memory.py │ │ │ ├── models.py │ │ │ └── noise.py │ │ ├── deepq │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── build_graph.py │ │ │ ├── deepq.py │ │ │ ├── defaults.py │ │ │ ├── experiments │ │ │ │ ├── __init__.py │ │ │ │ ├── custom_cartpole.py │ │ │ │ ├── enjoy_cartpole.py │ │ │ │ ├── enjoy_mountaincar.py │ │ │ │ ├── enjoy_pong.py │ │ │ │ ├── train_cartpole.py │ │ │ │ ├── train_mountaincar.py │ │ │ │ └── train_pong.py │ │ │ ├── models.py │ │ │ ├── replay_buffer.py │ │ │ └── utils.py │ │ ├── gail │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── adversary.py │ │ │ ├── behavior_clone.py │ │ │ ├── dataset │ │ │ │ ├── __init__.py │ │ │ │ └── mujoco_dset.py │ │ │ ├── gail-eval.py │ │ │ ├── mlp_policy.py │ │ │ ├── result │ │ │ │ ├── HalfCheetah-normalized-deterministic-scores.png │ │ │ │ ├── HalfCheetah-normalized-stochastic-scores.png │ │ │ │ ├── HalfCheetah-unnormalized-deterministic-scores.png │ │ │ │ ├── HalfCheetah-unnormalized-stochastic-scores.png │ │ │ │ ├── Hopper-normalized-deterministic-scores.png │ │ │ │ ├── Hopper-normalized-stochastic-scores.png │ │ │ │ ├── Hopper-unnormalized-deterministic-scores.png │ │ │ │ ├── Hopper-unnormalized-stochastic-scores.png │ │ │ │ ├── Humanoid-normalized-deterministic-scores.png │ │ │ │ ├── Humanoid-normalized-stochastic-scores.png │ │ │ │ ├── Humanoid-unnormalized-deterministic-scores.png │ │ │ │ ├── Humanoid-unnormalized-stochastic-scores.png │ │ │ │ ├── HumanoidStandup-normalized-deterministic-scores.png │ │ │ │ ├── HumanoidStandup-normalized-stochastic-scores.png │ │ │ │ ├── HumanoidStandup-unnormalized-deterministic-scores.png │ │ │ │ ├── HumanoidStandup-unnormalized-stochastic-scores.png │ │ │ │ ├── Walker2d-normalized-deterministic-scores.png │ │ │ │ ├── Walker2d-normalized-stochastic-scores.png │ │ │ │ ├── Walker2d-unnormalized-deterministic-scores.png │ │ │ │ ├── Walker2d-unnormalized-stochastic-scores.png │ │ │ │ ├── gail-result.md │ │ │ │ ├── halfcheetah-training.png │ │ │ │ ├── hopper-training.png │ │ │ │ ├── humanoid-training.png │ │ │ │ ├── humanoidstandup-training.png │ │ │ │ └── walker2d-training.png │ │ │ ├── run_mujoco.py │ │ │ ├── statistics.py │ │ │ └── trpo_mpi.py │ │ ├── her │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── actor_critic.py │ │ │ ├── ddpg.py │ │ │ ├── experiment │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── data_generation │ │ │ │ │ └── fetch_data_generation.py │ │ │ │ ├── play.py │ │ │ │ ├── plot.py │ │ │ │ └── train.py │ │ │ ├── her.py │ │ │ ├── normalizer.py │ │ │ ├── replay_buffer.py │ │ │ ├── rollout.py │ │ │ └── util.py │ │ ├── logger.py │ │ ├── ppo1 │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── cnn_policy.py │ │ │ ├── mlp_policy.py │ │ │ ├── pposgd_simple.py │ │ │ ├── run_atari.py │ │ │ ├── run_humanoid.py │ │ │ ├── run_mujoco.py │ │ │ └── run_robotics.py │ │ ├── ppo2 │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── defaults.py │ │ │ ├── microbatched_model.py │ │ │ ├── model.py │ │ │ ├── ppo2.py │ │ │ ├── runner.py │ │ │ └── test_microbatches.py │ │ ├── results_plotter.py │ │ ├── run.py │ │ └── trpo_mpi │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── defaults.py │ │ │ └── trpo_mpi.py │ ├── data │ │ ├── cartpole.gif │ │ ├── fetchPickAndPlaceContrast.png │ │ └── logo.jpg │ ├── docs │ │ └── viz │ │ │ └── viz.ipynb │ ├── setup.cfg │ └── setup.py ├── bc.py ├── bc_degredation_data │ ├── beamrider_batch_rewards.csv │ ├── beamrider_degredation_plot.png │ ├── breakout_batch_rewards.csv │ ├── breakout_degredation_plot.png │ ├── create_table.py │ ├── enduro_batch_rewards.csv │ ├── enduro_degredation_plot.png │ ├── performance_table.txt │ ├── plot_degredation.py │ ├── pong_batch_rewards.csv │ ├── pong_degredation_plot.png │ ├── qbert_batch_rewards.csv │ ├── qbert_degredation_plot.png │ ├── seaquest_batch_rewards.csv │ ├── seaquest_degredation_plot.png │ ├── spaceinvaders_batch_rewards.csv │ └── spaceinvaders_degredation_plot.png ├── bc_degredation_data_generator.py ├── checkpoints │ ├── beamrider_novice_demos_network.pth.tar │ ├── breakout_novice_demos_network.pth.tar │ ├── breakout_standard_bc_network.pth.tar │ ├── enduro_novice_demos_network.pth.tar │ ├── hero_novice_demos_network.pth.tar │ ├── pong_novice_demos_network.pth.tar │ ├── qbert_novice_demos_network.pth.tar │ ├── seaquest_novice_demos_network.pth.tar │ └── spaceinvaders_novice_demos_network.pth.tar ├── cnn.py ├── dataset.py ├── evaluateDREXpolicy.py ├── evaluate_bc.py ├── evaluator.py ├── figs │ ├── beamrider_gt_vs_pred_rewards_progress_sigmoid.png │ ├── beamridermax_attention.png │ ├── beamridermax_frames.png │ ├── beamridermin_attention.png │ ├── beamridermin_frames.png │ ├── breakout_gt_vs_pred_rewards_progress_sigmoid.png │ ├── breakoutmax_attention.png │ ├── breakoutmax_frames.png │ ├── breakoutmin_attention.png │ ├── breakoutmin_frames.png │ ├── enduro_gt_vs_pred_rewards_progress_sigmoid.png │ ├── enduromax_attention.png │ ├── enduromax_frames.png │ ├── enduromin_attention.png │ ├── enduromin_frames.png │ ├── pong_gt_vs_pred_rewards_progress_sigmoid.png │ ├── pongmax_attention.png │ ├── pongmax_frames.png │ ├── pongmin_attention.png │ ├── pongmin_frames.png │ ├── qbert_gt_vs_pred_rewards_progress_sigmoid.png │ ├── qbertmax_attention.png │ ├── qbertmax_frames.png │ ├── qbertmin_attention.png │ ├── qbertmin_frames.png │ ├── seaquest_gt_vs_pred_rewards_progress_sigmoid.png │ ├── seaquestmax_attention.png │ ├── seaquestmax_frames.png │ ├── seaquestmin_attention.png │ ├── seaquestmin_frames.png │ ├── spaceinvaders_gt_vs_pred_rewards_progress_sigmoid.png │ ├── spaceinvadersmax_attention.png │ ├── spaceinvadersmax_frames.png │ ├── spaceinvadersmin_attention.png │ └── spaceinvadersmin_frames.png ├── generate_reward_extrapolation_plots.py ├── learned_models │ ├── beamrider_five_bins_noop_earlystop.params │ ├── breakout_five_bins_noop_earlystop.params │ ├── enduro_five_bins_noop_earlystop.params │ ├── pong_five_bins_noop_earlystop.params │ ├── qbert_five_bins_noop_earlystop.params │ ├── seaquest_five_bins_noop_earlystop.params │ └── spaceinvaders_five_bins_noop_earlystop.params ├── main.py ├── main_bc_degredation.py ├── preprocess.py ├── run_test.py ├── state.py ├── synthesize_rankings_bc.py ├── train.py └── utils.py └── drex-mujoco ├── .gitignore ├── README.md ├── bc_mujoco.py ├── bc_noise_dataset.py ├── demos └── suboptimal_demos │ ├── halfcheetah │ └── dataset.pkl │ └── hopper │ └── dataset.pkl ├── drex.py ├── environment.yml ├── learner ├── .gitignore ├── README.md ├── baselines │ ├── .benchmark_pattern │ ├── .gitignore │ ├── .travis.yml │ ├── Dockerfile │ ├── LICENSE │ ├── README.md │ ├── baselines │ │ ├── __init__.py │ │ ├── a2c │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── a2c.py │ │ │ ├── runner.py │ │ │ └── utils.py │ │ ├── acer │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── acer.py │ │ │ ├── buffer.py │ │ │ ├── defaults.py │ │ │ ├── policies.py │ │ │ └── runner.py │ │ ├── acktr │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── acktr.py │ │ │ ├── defaults.py │ │ │ ├── kfac.py │ │ │ ├── kfac_utils.py │ │ │ └── utils.py │ │ ├── bench │ │ │ ├── __init__.py │ │ │ ├── benchmarks.py │ │ │ └── monitor.py │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── atari_wrappers.py │ │ │ ├── cg.py │ │ │ ├── cmd_util.py │ │ │ ├── console_util.py │ │ │ ├── custom_reward_wrapper.py │ │ │ ├── dataset.py │ │ │ ├── distributions.py │ │ │ ├── input.py │ │ │ ├── math_util.py │ │ │ ├── misc_util.py │ │ │ ├── models.py │ │ │ ├── mpi_adam.py │ │ │ ├── mpi_adam_optimizer.py │ │ │ ├── mpi_fork.py │ │ │ ├── mpi_moments.py │ │ │ ├── mpi_running_mean_std.py │ │ │ ├── mpi_util.py │ │ │ ├── plot_util.py │ │ │ ├── policies.py │ │ │ ├── retro_wrappers.py │ │ │ ├── runners.py │ │ │ ├── running_mean_std.py │ │ │ ├── schedules.py │ │ │ ├── segment_tree.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── envs │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── fixed_sequence_env.py │ │ │ │ │ ├── identity_env.py │ │ │ │ │ └── mnist_env.py │ │ │ │ ├── test_cartpole.py │ │ │ │ ├── test_doc_examples.py │ │ │ │ ├── test_env_after_learn.py │ │ │ │ ├── test_fixed_sequence.py │ │ │ │ ├── test_identity.py │ │ │ │ ├── test_mnist.py │ │ │ │ ├── test_schedules.py │ │ │ │ ├── test_segment_tree.py │ │ │ │ ├── test_serialization.py │ │ │ │ ├── test_tf_util.py │ │ │ │ └── util.py │ │ │ ├── tf_util.py │ │ │ ├── tile_images.py │ │ │ └── vec_env │ │ │ │ ├── __init__.py │ │ │ │ ├── dummy_vec_env.py │ │ │ │ ├── shmem_vec_env.py │ │ │ │ ├── subproc_vec_env.py │ │ │ │ ├── test_vec_env.py │ │ │ │ ├── test_video_recorder.py │ │ │ │ ├── util.py │ │ │ │ ├── vec_frame_stack.py │ │ │ │ ├── vec_monitor.py │ │ │ │ ├── vec_normalize.py │ │ │ │ └── vec_video_recorder.py │ │ ├── ddpg │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── ddpg.py │ │ │ ├── ddpg_learner.py │ │ │ ├── memory.py │ │ │ ├── models.py │ │ │ └── noise.py │ │ ├── deepq │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── build_graph.py │ │ │ ├── deepq.py │ │ │ ├── defaults.py │ │ │ ├── experiments │ │ │ │ ├── __init__.py │ │ │ │ ├── custom_cartpole.py │ │ │ │ ├── enjoy_cartpole.py │ │ │ │ ├── enjoy_mountaincar.py │ │ │ │ ├── enjoy_pong.py │ │ │ │ ├── train_cartpole.py │ │ │ │ ├── train_mountaincar.py │ │ │ │ └── train_pong.py │ │ │ ├── models.py │ │ │ ├── replay_buffer.py │ │ │ └── utils.py │ │ ├── gail │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── adversary.py │ │ │ ├── adversary_atari.py │ │ │ ├── behavior_clone.py │ │ │ ├── cnn_policy.py │ │ │ ├── dataset │ │ │ │ ├── __init__.py │ │ │ │ ├── atari_dset.py │ │ │ │ ├── atari_gen.py │ │ │ │ └── mujoco_dset.py │ │ │ ├── gail-eval.py │ │ │ ├── mlp_policy.py │ │ │ ├── result │ │ │ │ ├── HalfCheetah-normalized-deterministic-scores.png │ │ │ │ ├── HalfCheetah-normalized-stochastic-scores.png │ │ │ │ ├── HalfCheetah-unnormalized-deterministic-scores.png │ │ │ │ ├── HalfCheetah-unnormalized-stochastic-scores.png │ │ │ │ ├── Hopper-normalized-deterministic-scores.png │ │ │ │ ├── Hopper-normalized-stochastic-scores.png │ │ │ │ ├── Hopper-unnormalized-deterministic-scores.png │ │ │ │ ├── Hopper-unnormalized-stochastic-scores.png │ │ │ │ ├── Humanoid-normalized-deterministic-scores.png │ │ │ │ ├── Humanoid-normalized-stochastic-scores.png │ │ │ │ ├── Humanoid-unnormalized-deterministic-scores.png │ │ │ │ ├── Humanoid-unnormalized-stochastic-scores.png │ │ │ │ ├── HumanoidStandup-normalized-deterministic-scores.png │ │ │ │ ├── HumanoidStandup-normalized-stochastic-scores.png │ │ │ │ ├── HumanoidStandup-unnormalized-deterministic-scores.png │ │ │ │ ├── HumanoidStandup-unnormalized-stochastic-scores.png │ │ │ │ ├── Walker2d-normalized-deterministic-scores.png │ │ │ │ ├── Walker2d-normalized-stochastic-scores.png │ │ │ │ ├── Walker2d-unnormalized-deterministic-scores.png │ │ │ │ ├── Walker2d-unnormalized-stochastic-scores.png │ │ │ │ ├── gail-result.md │ │ │ │ ├── halfcheetah-training.png │ │ │ │ ├── hopper-training.png │ │ │ │ ├── humanoid-training.png │ │ │ │ ├── humanoidstandup-training.png │ │ │ │ └── walker2d-training.png │ │ │ ├── run_atari.py │ │ │ ├── run_mujoco.py │ │ │ ├── statistics.py │ │ │ └── trpo_mpi.py │ │ ├── her │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── actor_critic.py │ │ │ ├── ddpg.py │ │ │ ├── experiment │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── data_generation │ │ │ │ │ └── fetch_data_generation.py │ │ │ │ ├── play.py │ │ │ │ ├── plot.py │ │ │ │ └── train.py │ │ │ ├── her.py │ │ │ ├── normalizer.py │ │ │ ├── replay_buffer.py │ │ │ ├── rollout.py │ │ │ └── util.py │ │ ├── logger.py │ │ ├── ppo1 │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── 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