├── .circleci └── config.yml ├── .github ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── ISSUE_TEMPLATE.md └── PULL_REQUEST_TEMPLATE.md ├── .gitignore ├── .pre-commit-config.yaml ├── .pylintrc ├── .readthedocs.yaml ├── .yamllint ├── LICENSE ├── README.md ├── config ├── __init__.py ├── agent │ ├── components │ │ ├── gradnorm.yaml │ │ ├── hipbmdp_actor.yaml │ │ ├── hipbmdp_critic.yaml │ │ ├── hipbmdp_encoder.yaml │ │ ├── hipbmdp_gradnorm.yaml │ │ ├── hipbmdp_mask.yaml │ │ ├── hipbmdp_multitask.yaml │ │ ├── hipbmdp_task_to_encoder_cluster.yaml │ │ ├── hipbmdp_transition_model.yaml │ │ ├── metaworld_actor.yaml │ │ ├── metaworld_critic.yaml │ │ ├── metaworld_encoder.yaml │ │ ├── metaworld_gradnorm.yaml │ │ ├── metaworld_mask.yaml │ │ ├── metaworld_multitask.yaml │ │ ├── metaworld_task_to_encoder_cluster.yaml │ │ └── metaworld_transition_model.yaml │ ├── deepmdp.yaml │ ├── distral.yaml │ ├── gradnorm_deepmdp.yaml │ ├── gradnorm_sac.yaml │ ├── gradnorm_state_deepmdp.yaml │ ├── gradnorm_state_sac.yaml │ ├── hipbmdp.yaml │ ├── optimizers │ │ ├── hipbmdp_actor.yaml │ │ ├── hipbmdp_alpha.yaml │ │ ├── hipbmdp_critic.yaml │ │ ├── hipbmdp_decoder.yaml │ │ ├── hipbmdp_encoder.yaml │ │ ├── metaworld_actor.yaml │ │ ├── metaworld_alpha.yaml │ │ ├── metaworld_critic.yaml │ │ ├── metaworld_decoder.yaml │ │ └── metaworld_encoder.yaml │ ├── pcgrad_deepmdp.yaml │ ├── pcgrad_sac.yaml │ ├── pcgrad_sac_ae.yaml │ ├── pcgrad_state_deepmdp.yaml │ ├── pcgrad_state_sac.yaml │ ├── sac.yaml │ ├── sac_ae.yaml │ ├── state_deepmdp.yaml │ └── state_sac.yaml ├── config.yaml ├── env │ ├── dmcontrol-finger-spin-distribution-v0.yaml │ ├── metaworld-ml1.yaml │ ├── metaworld-mt1.yaml │ ├── metaworld-mt10.yaml │ └── metaworld-mt50.yaml ├── experiment │ ├── hipbmdp.yaml │ ├── metaworld.yaml │ └── mtrl.yaml ├── logbook │ └── mtrl.yaml ├── logger │ └── mtrl.yaml ├── metrics │ ├── all.yaml │ ├── hipbmdp.yaml │ └── metaworld.yaml ├── replay_buffer │ └── mtrl.yaml └── setup │ ├── hipbmdp.yaml │ └── metaworld.yaml ├── docs_src ├── Makefile ├── make.bat └── source │ ├── conf.py │ ├── index.rst │ └── pages │ ├── algorithms │ └── supported.rst │ ├── api │ ├── modules.rst │ ├── mtrl.agent.components.rst │ ├── mtrl.agent.ds.rst │ ├── mtrl.agent.rst │ ├── mtrl.app.rst │ ├── mtrl.env.gym_1.rst │ ├── mtrl.env.gym_1.utils.rst │ ├── mtrl.env.rst │ ├── mtrl.experiment.rst │ ├── mtrl.rst │ └── mtrl.utils.rst │ ├── bib │ └── refs.bib │ ├── envs │ └── supported.rst │ ├── readme.rst │ └── tutorials │ ├── baseline.rst │ ├── overview.rst │ └── run.rst ├── main.py ├── metadata └── task_embedding │ └── roberta_small │ ├── metaworld-mt10.json │ └── metaworld-mt50.json ├── mtrl ├── __init__.py ├── agent │ ├── __init__.py │ ├── abstract.py │ ├── components │ │ ├── __init__.py │ │ ├── actor.py │ │ ├── base.py │ │ ├── critic.py │ │ ├── decoder.py │ │ ├── encoder.py │ │ ├── hipbmdp_theta.py │ │ ├── moe_layer.py │ │ ├── reward_decoder.py │ │ ├── soft_modularization.py │ │ ├── task_encoder.py │ │ └── transition_model.py │ ├── deepmdp.py │ ├── distral.py │ ├── ds │ │ ├── __init__.py │ │ ├── mt_obs.py │ │ └── task_info.py │ ├── grad_manipulation.py │ ├── gradnorm.py │ ├── hipbmdp.py │ ├── pcgrad.py │ ├── sac.py │ ├── sac_ae.py │ ├── utils.py │ └── wrapper.py ├── app │ ├── __init__.py │ └── run.py ├── env │ ├── __init__.py │ ├── builder.py │ ├── types.py │ └── vec_env.py ├── experiment │ ├── __init__.py │ ├── dmcontrol.py │ ├── experiment.py │ ├── metaworld.py │ ├── multitask.py │ └── utils.py ├── logger.py ├── replay_buffer.py └── utils │ ├── __init__.py │ ├── checkpointable.py │ ├── config.py │ ├── types.py │ ├── utils.py │ └── video.py ├── news ├── .gitignore ├── 4.doc └── _template.rst ├── noxfile.py ├── requirements ├── base.txt ├── dev.txt ├── docs.txt └── nox.txt ├── setup.cfg ├── setup.py ├── tests ├── __init__.py ├── agent │ ├── components │ │ ├── __init__.py │ │ ├── decoder_test.py │ │ ├── hipbmdp_components_test.py │ │ ├── metaworld_components_test.py │ │ ├── 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