├── .gitignore ├── .pylintrc ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── collect_demos.py ├── configs ├── actor │ ├── big_deepset.yaml │ ├── deepset.yaml │ ├── mlp.yaml │ ├── padded_mlp.yaml │ ├── simple_deepset.yaml │ └── transformer.yaml ├── bc_experiment │ ├── big_transformer.yaml │ ├── deepset.yaml │ └── mlp.yaml ├── bc_setup │ ├── 2s2p.yaml │ ├── 3p.yaml │ └── 3s.yaml ├── critic │ ├── big_deepset.yaml │ ├── deepset.yaml │ ├── mlp.yaml │ ├── padded_mlp.yaml │ ├── simple_deepset.yaml │ └── transformer.yaml ├── experiment │ ├── big_deepset.yaml │ ├── big_transformer.yaml │ ├── deepset.yaml │ ├── deepset_policyonly.yaml │ ├── med_transformer.yaml │ ├── mlp.yaml │ ├── padded_mlp.yaml │ ├── simple_deepset.yaml │ ├── transformer.yaml │ └── transformer_policyonly.yaml ├── hydra │ └── launcher │ │ ├── local.yaml │ │ ├── slurm.yaml │ │ ├── slurm_bc.yaml │ │ └── slurm_cpu.yaml ├── main.yaml ├── main_bc.yaml └── setup │ ├── 1p.yaml │ ├── 1pdense.yaml │ ├── 1s.yaml │ ├── 1s1pdense.yaml │ ├── 1s_or_1pdense.yaml │ ├── 2pdense.yaml │ ├── 2s.yaml │ ├── 2s2pdense.yaml │ ├── 2s2pdense_fastexp.yaml │ ├── 2s_or_2pdense.yaml │ ├── 2s_or_2pdense_fastexp.yaml │ ├── 2stackdense.yaml │ ├── 3p.yaml │ ├── 3pdense.yaml │ ├── 3pdense_fastexp.yaml │ ├── 3s.yaml │ ├── 3sdense.yaml │ ├── demos_1pdense.yaml │ ├── demos_3p.yaml │ ├── demos_3pdense.yaml │ └── demos_3s.yaml ├── env.yml ├── envs ├── LICENSE.md ├── README.md ├── __init__.py ├── assets │ ├── LICENSE.md │ ├── fetch │ │ ├── pick_and_place.xml │ │ ├── push1.xml │ │ ├── push1_collide.xml │ │ ├── push2.xml │ │ ├── push2_collide.xml │ │ ├── push3.xml │ │ ├── push3_collide.xml │ │ ├── push4.xml │ │ ├── push4_collide.xml │ │ ├── push5.xml │ │ ├── push5_collide.xml │ │ ├── push6.xml │ │ ├── push6_collide.xml │ │ ├── reach.xml │ │ ├── robot.xml │ │ ├── shared.xml │ │ ├── switch1.xml │ │ ├── switch1push1.xml │ │ ├── switch1push1_collide.xml │ │ ├── switch2.xml │ │ ├── switch2push2.xml │ │ ├── switch2push2_collide.xml │ │ ├── switch3.xml │ │ ├── switch3push3.xml │ │ ├── switch3push3_collide.xml │ │ ├── switch4.xml │ │ ├── switch5.xml │ │ └── switch6.xml │ ├── hand │ │ ├── manipulate_block.xml │ │ ├── manipulate_block_touch_sensors.xml │ │ ├── manipulate_egg.xml │ │ ├── manipulate_egg_touch_sensors.xml │ │ ├── manipulate_pen.xml │ │ ├── manipulate_pen_touch_sensors.xml │ │ ├── reach.xml │ │ ├── robot.xml │ │ ├── robot_touch_sensors_92.xml │ │ ├── shared.xml │ │ ├── shared_asset.xml │ │ └── shared_touch_sensors_92.xml │ ├── stls │ │ ├── fetch │ │ │ ├── base_link_collision.stl │ │ │ ├── bellows_link_collision.stl │ │ │ ├── elbow_flex_link_collision.stl │ │ │ ├── estop_link.stl │ │ │ ├── forearm_roll_link_collision.stl │ │ │ ├── gripper_link.stl │ │ │ ├── head_pan_link_collision.stl │ │ │ ├── head_tilt_link_collision.stl │ │ │ ├── l_wheel_link_collision.stl │ │ │ ├── laser_link.stl │ │ │ ├── r_wheel_link_collision.stl │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ ├── torso_fixed_link.stl │ │ │ ├── torso_lift_link_collision.stl │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ ├── wrist_flex_link_collision.stl │ │ │ └── wrist_roll_link_collision.stl │ │ ├── hand │ │ │ ├── F1.stl │ │ │ ├── F2.stl │ │ │ ├── F3.stl │ │ │ ├── TH1_z.stl │ │ │ ├── TH2_z.stl │ │ │ ├── TH3_z.stl │ │ │ ├── forearm_electric.stl │ │ │ ├── forearm_electric_cvx.stl │ │ │ ├── knuckle.stl │ │ │ ├── lfmetacarpal.stl │ │ │ ├── palm.stl │ │ │ └── wrist.stl │ │ └── switch │ │ │ ├── lightswitch.stl │ │ │ └── lightswitchbase.stl │ └── textures │ │ ├── block.png │ │ └── block_hidden.png └── fetch_push_multi.py ├── evaluate.py ├── her_modules ├── __init__.py └── her.py ├── launch.py ├── launch_bc.py ├── render_viz.py ├── rl_modules ├── __init__.py ├── ddpg_agent.py ├── models.py ├── normalizer.py └── replay_buffer.py ├── scripts ├── eval.sh ├── make_data.sh ├── make_vids.sh └── oracle.sh ├── train.py ├── train_bc.py └── vec_env ├── LICENSE.md ├── __init__.py ├── base_vec_env.py └── 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