├── .gitignore ├── README.md ├── plb ├── __init__.py ├── algorithms │ ├── TD3 │ │ ├── DDPG.py │ │ ├── LICENSE │ │ ├── OurDDPG.py │ │ ├── README.md │ │ ├── TD3.py │ │ ├── main.py │ │ ├── run_experiments.sh │ │ ├── run_td3.py │ │ └── utils.py │ ├── discor │ │ ├── LICENSE │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── algorithm │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── discor.py │ │ │ ├── eval.py │ │ │ └── sac.py │ │ ├── network.py │ │ ├── replay_buffer.py │ │ ├── run_sac.py │ │ ├── test │ │ │ └── test_sac.py │ │ └── utils.py │ ├── logger.py │ ├── ppo │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── README.md │ │ ├── enjoy.py │ │ ├── evaluation.py │ │ ├── gail_experts │ │ │ ├── README.md │ │ │ └── convert_to_pytorch.py │ │ ├── generate_tmux_yaml.py │ │ ├── main.py │ │ ├── ppo │ │ │ ├── __init__.py │ │ │ ├── algo │ │ │ │ ├── __init__.py │ │ │ │ ├── a2c_acktr.py │ │ │ │ ├── gail.py │ │ │ │ ├── kfac.py │ │ │ │ └── ppo.py │ │ │ ├── arguments.py │ │ │ ├── distributions.py │ │ │ ├── envs.py │ │ │ ├── model.py │ │ │ ├── storage.py │ │ │ └── utils.py │ │ ├── requirements.txt │ │ ├── run.sh │ │ ├── run_all.yaml │ │ ├── run_ppo.py │ │ └── setup.py │ └── solve.py ├── config │ ├── __init__.py │ ├── default_config.py │ └── utils.py ├── engine │ ├── __init__.py │ ├── losses │ │ ├── __init__.py │ │ └── loss.py │ ├── mpm_simulator.py │ ├── nn │ │ └── mlp.py │ ├── primitive │ │ ├── __init__.py │ │ ├── demo.py │ │ ├── primitives.py │ │ ├── primive_base.py │ │ ├── test_primitives.py │ │ └── utils.py │ ├── renderer │ │ ├── __init__.py │ │ ├── renderer.py │ │ ├── renderer_tester.py │ │ ├── renderer_utils.py │ │ └── test.py │ ├── shapes │ │ ├── __init__.py │ │ └── shape_maker.py │ └── taichi_env.py ├── envs │ ├── __init__.py │ ├── assembly.yml │ ├── assets │ │ ├── Assembly3D-v1.npy │ │ ├── Assembly3D-v2.npy │ │ ├── Assembly3D-v3.npy │ │ ├── Assembly3D-v4.npy │ │ ├── Assembly3D-v5.npy │ │ ├── Chopsticks3D-v1.npy │ │ ├── Chopsticks3D-v2.npy │ │ ├── Chopsticks3D-v3.npy │ │ ├── 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