├── .gitignore ├── .gitmodules ├── CARL ├── .gitignore ├── CARL_Optimizer.py ├── CARL_Runner.py ├── CARL_Train_Control_Adapter.py ├── CarlCore │ ├── CarlCore.cpp │ ├── CarlCore.h │ ├── CarlCore.i │ ├── CarlMain.cpp │ ├── Makefile │ ├── anim │ │ ├── CarlKinCharacter.cpp │ │ ├── CarlKinCharacter.h │ │ ├── CarlKinTree.cpp │ │ └── CarlKinTree.h │ ├── render │ │ ├── DrawCharacterExtend.cpp │ │ ├── DrawCharacterExtend.h │ │ ├── DrawKinTreeExtend.cpp │ │ ├── DrawKinTreeExtend.h │ │ ├── DrawUtilExtend.cpp │ │ ├── DrawUtilExtend.h │ │ ├── MeshUtilExtend.cpp │ │ └── MeshUtilExtend.h │ ├── scenes │ │ ├── CarlRLScene.cpp │ │ ├── CarlRLScene.h │ │ ├── CarlRLSceneSimChar.cpp │ │ ├── CarlRLSceneSimChar.h │ │ ├── CarlSceneKinChar.cpp │ │ ├── CarlSceneKinChar.h │ │ ├── CarlSceneTaskHeading.cpp │ │ ├── CarlSceneTaskHeading.h │ │ ├── CarlSceneTaskImitate.cpp │ │ ├── CarlSceneTaskImitate.h │ │ ├── CarlSceneTaskSpeed.cpp │ │ ├── CarlSceneTaskSpeed.h │ │ ├── DrawCarlRLScene.cpp │ │ ├── DrawCarlRLScene.h │ │ ├── DrawCarlScene.cpp │ │ ├── DrawCarlScene.h │ │ ├── DrawCarlSceneKinChar.cpp │ │ ├── DrawCarlSceneKinChar.h │ │ ├── DrawCarlSceneTaskHeading.cpp │ │ ├── DrawCarlSceneTaskHeading.h │ │ ├── DrawCarlSceneTaskImitate.cpp │ │ ├── DrawCarlSceneTaskImitate.h │ │ ├── DrawCarlSceneTaskSpeed.cpp │ │ └── DrawCarlSceneTaskSpeed.h │ └── util │ │ ├── FileUtilExtend.cpp │ │ ├── FileUtilExtend.h │ │ ├── MathUtilExtend.cpp │ │ ├── MathUtilExtend.h │ │ ├── PathApproximator.cpp │ │ ├── PathApproximator.h │ │ ├── PathFollower.cpp │ │ └── PathFollower.h ├── args │ ├── generate_dog3d_gan_control_adapter_samples_heading_control_args.txt │ ├── generate_dog3d_gan_control_adapter_samples_speed_control_args.txt │ ├── run_dog3d_drl_finetuning_heading_control_args.txt │ ├── run_dog3d_drl_finetuning_speed_control_args.txt │ ├── run_dog3d_gan_control_adapter_heading_control_args.txt │ ├── run_dog3d_gan_control_adapter_speed_control_args.txt │ ├── run_dog3d_imitation_learning_heading_control_args.txt │ ├── run_dog3d_imitation_learning_speed_control_args.txt │ ├── run_dog3d_reference_motion_args.txt │ ├── train_dog3d_drl_finetuning_heading_control_args.txt │ ├── train_dog3d_drl_finetuning_speed_control_args.txt │ ├── train_dog3d_gan_control_adapter_heading_control_args.txt │ ├── train_dog3d_gan_control_adapter_speed_control_args.txt │ ├── train_dog3d_imitation_learning_heading_control_args.txt │ └── train_dog3d_imitation_learning_speed_control_args.txt ├── data │ ├── agents │ │ ├── ct_agent_dog_drl_finetuning_headhing_control_ppo.txt │ │ ├── ct_agent_dog_drl_finetuning_heading_control_ppo.txt │ │ ├── ct_agent_dog_drl_finetuning_speed_control_ppo.txt │ │ ├── ct_agent_dog_generate_record_data_speed_control.txt │ │ └── ct_agent_dog_imitation_learning_ppo.txt │ ├── characters │ │ └── dog3d.txt │ ├── controllers │ │ └── dog3d_ctrl.txt │ ├── motions │ │ ├── dog3d_pace_trot_canter.txt │ │ └── dog3d_turning.txt │ ├── paths │ │ ├── 8_shape.txt │ │ └── circle.txt │ ├── policies │ │ └── dog3d │ │ │ ├── model_drl_finetuning_heading_control.ckpt.data-00000-of-00001 │ │ │ ├── model_drl_finetuning_heading_control.ckpt.index │ │ │ ├── model_drl_finetuning_speed_control.ckpt.data-00000-of-00001 │ │ │ ├── model_drl_finetuning_speed_control.ckpt.index │ │ │ ├── model_gan_control_adapter_heading_control.ckpt.data-00000-of-00001 │ │ │ ├── model_gan_control_adapter_heading_control.ckpt.index │ │ │ ├── model_gan_control_adapter_speed_control.ckpt.data-00000-of-00001 │ │ │ ├── model_gan_control_adapter_speed_control.ckpt.index │ │ │ ├── model_imitation_learning_heading_control.ckpt.data-00000-of-00001 │ │ │ ├── model_imitation_learning_heading_control.ckpt.index │ │ │ ├── model_imitation_learning_speed_control.ckpt.data-00000-of-00001 │ │ │ └── model_imitation_learning_speed_control.ckpt.index │ ├── shaders │ │ ├── Depth_PS.glsl │ │ ├── DownSample_PS.glsl │ │ ├── DrawTexture_PS.glsl │ │ ├── FullScreenQuad_VS.glsl │ │ ├── Lighting_Lambert_PS.glsl │ │ ├── Mesh_VS.glsl │ │ ├── PostProcessing_PS.glsl │ │ ├── Sky_PS.glsl │ │ ├── Sky_VS.glsl │ │ ├── VertColor_PS.glsl │ │ └── im3d.glsl │ ├── terrain │ │ └── plane.txt │ └── textures │ │ └── grid0.png ├── mpi_run.py ├── plot_action_dist.ipynb ├── plot_action_dist.py ├── plot_learning_curve.ipynb ├── requirements.txt ├── scripts │ ├── __init__.py │ ├── agent_builder.py │ ├── carl_env.py │ ├── carl_ppo_agent.py │ ├── fc_2layers_16units.py │ ├── fc_2layers_512units.py │ ├── fc_3layers_512units_branch_inputs.py │ ├── mpi_util_extend.py │ ├── net_builder.py │ ├── rl_world.py │ └── tf_util_extend.py └── visualize_action_dist.sh ├── LICENSE ├── README.md └── images ├── representative_image_250x250.png └── teaser.jpg /.gitignore: -------------------------------------------------------------------------------- 1 | *.DS_Store 2 | 3 | .vscode/ 4 | 5 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 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