├── .gitignore ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── mbirl ├── README.md ├── __init__.py ├── env │ ├── __init__.py │ └── kuka_iiwa │ │ ├── meshes │ │ ├── iiwa7 │ │ │ ├── collision │ │ │ │ ├── link_0.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ ├── link_6.stl │ │ │ │ └── link_7.stl │ │ │ └── visual │ │ │ │ ├── link_0.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ ├── link_6.stl │ │ │ │ └── link_7.stl │ │ └── robotiq-ft300 │ │ │ ├── collision │ │ │ ├── robotiq_fts150.stl │ │ │ └── robotiq_fts300.dae │ │ │ └── visual │ │ │ ├── robotiq_fts150.stl │ │ │ └── robotiq_fts300.dae │ │ └── urdf │ │ └── iiwa7_ft_with_obj_keypts.urdf ├── experiments │ ├── __init__.py │ ├── plot_mbirl_training_and_eval.ipynb │ └── run_model_based_irl.py ├── generate_expert_demo.py ├── keypoint_mpc.py └── learnable_costs.py ├── ml3 ├── README.md ├── __init__.py ├── envs │ ├── __init__.py │ ├── bullet_sim.py │ ├── mountain_car.py │ ├── mujoco_robots │ │ ├── ground_plane.xml │ │ └── reacher.xml │ └── reacher_sim.py ├── experiments │ ├── Loss shaping visualization.ipynb │ ├── __init__.py │ ├── ml3_sine_regression_exp_viz.ipynb │ ├── run_mbrl_reacher_exp.py │ ├── run_mountain_car_exp.py │ ├── run_shaped_sine_exp.py │ └── run_sine_regression_exp.py ├── learnable_losses.py ├── mbrl_utils.py ├── ml3_test.py ├── ml3_train.py ├── optimizee.py ├── shaped_sine_utils.py ├── sine_regression_task.py └── sine_task_sampler.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/.gitignore -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/CODE_OF_CONDUCT.md -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/CONTRIBUTING.md -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/README.md -------------------------------------------------------------------------------- /mbirl/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/README.md -------------------------------------------------------------------------------- /mbirl/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /mbirl/env/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_0.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_0.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_1.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_2.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_3.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_4.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_5.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_5.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_6.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_7.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/collision/link_7.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_0.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_0.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_1.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_2.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_3.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_4.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_5.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_5.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_6.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_7.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/iiwa7/visual/link_7.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/robotiq-ft300/collision/robotiq_fts150.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/robotiq-ft300/collision/robotiq_fts150.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/robotiq-ft300/collision/robotiq_fts300.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/robotiq-ft300/collision/robotiq_fts300.dae -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/robotiq-ft300/visual/robotiq_fts150.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/robotiq-ft300/visual/robotiq_fts150.stl -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/meshes/robotiq-ft300/visual/robotiq_fts300.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/meshes/robotiq-ft300/visual/robotiq_fts300.dae -------------------------------------------------------------------------------- /mbirl/env/kuka_iiwa/urdf/iiwa7_ft_with_obj_keypts.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/env/kuka_iiwa/urdf/iiwa7_ft_with_obj_keypts.urdf -------------------------------------------------------------------------------- /mbirl/experiments/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /mbirl/experiments/plot_mbirl_training_and_eval.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/experiments/plot_mbirl_training_and_eval.ipynb -------------------------------------------------------------------------------- /mbirl/experiments/run_model_based_irl.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/experiments/run_model_based_irl.py -------------------------------------------------------------------------------- /mbirl/generate_expert_demo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/generate_expert_demo.py -------------------------------------------------------------------------------- /mbirl/keypoint_mpc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/keypoint_mpc.py -------------------------------------------------------------------------------- /mbirl/learnable_costs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/mbirl/learnable_costs.py -------------------------------------------------------------------------------- /ml3/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/README.md -------------------------------------------------------------------------------- /ml3/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /ml3/envs/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /ml3/envs/bullet_sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/envs/bullet_sim.py -------------------------------------------------------------------------------- /ml3/envs/mountain_car.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/envs/mountain_car.py -------------------------------------------------------------------------------- /ml3/envs/mujoco_robots/ground_plane.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/envs/mujoco_robots/ground_plane.xml -------------------------------------------------------------------------------- /ml3/envs/mujoco_robots/reacher.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/envs/mujoco_robots/reacher.xml -------------------------------------------------------------------------------- /ml3/envs/reacher_sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/envs/reacher_sim.py -------------------------------------------------------------------------------- /ml3/experiments/Loss shaping visualization.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/experiments/Loss shaping visualization.ipynb -------------------------------------------------------------------------------- /ml3/experiments/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /ml3/experiments/ml3_sine_regression_exp_viz.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/experiments/ml3_sine_regression_exp_viz.ipynb -------------------------------------------------------------------------------- /ml3/experiments/run_mbrl_reacher_exp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/experiments/run_mbrl_reacher_exp.py -------------------------------------------------------------------------------- /ml3/experiments/run_mountain_car_exp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/experiments/run_mountain_car_exp.py -------------------------------------------------------------------------------- /ml3/experiments/run_shaped_sine_exp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/experiments/run_shaped_sine_exp.py -------------------------------------------------------------------------------- /ml3/experiments/run_sine_regression_exp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/experiments/run_sine_regression_exp.py -------------------------------------------------------------------------------- /ml3/learnable_losses.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/learnable_losses.py -------------------------------------------------------------------------------- /ml3/mbrl_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/mbrl_utils.py -------------------------------------------------------------------------------- /ml3/ml3_test.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/ml3_test.py -------------------------------------------------------------------------------- /ml3/ml3_train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/ml3_train.py -------------------------------------------------------------------------------- /ml3/optimizee.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/optimizee.py -------------------------------------------------------------------------------- /ml3/shaped_sine_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/shaped_sine_utils.py -------------------------------------------------------------------------------- /ml3/sine_regression_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/sine_regression_task.py -------------------------------------------------------------------------------- /ml3/sine_task_sampler.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/ml3/sine_task_sampler.py -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/LearningToLearn/HEAD/setup.py --------------------------------------------------------------------------------