├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── TMT ├── .gitignore ├── CarlCore │ ├── CarlCore.cpp │ ├── CarlCore.h │ ├── CarlCore.i │ ├── CarlCore.sln │ ├── CarlCore.vcxproj │ ├── CarlCore.vcxproj.filters │ ├── 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 │ │ ├── DrawTMTSceneTemplateController.cpp │ │ ├── DrawTMTSceneTemplateController.h │ │ ├── DrawTMTSceneTransitionRecorder.cpp │ │ ├── DrawTMTSceneTransitionRecorder.h │ │ ├── TMTSceneTemplateController.cpp │ │ ├── TMTSceneTemplateController.h │ │ ├── TMTSceneTransitionRecorder.cpp │ │ └── TMTSceneTransitionRecorder.h │ └── util │ │ ├── FileUtilExtend.cpp │ │ ├── FileUtilExtend.h │ │ ├── MathUtilExtend.cpp │ │ ├── MathUtilExtend.h │ │ ├── MotionTrajectory.cpp │ │ ├── MotionTrajectory.h │ │ ├── PathApproximator.cpp │ │ ├── PathApproximator.h │ │ ├── PathFollower.cpp │ │ ├── PathFollower.h │ │ └── tqdm.h ├── TMT_Build_Transition_Tensor.py ├── TMT_Collect_Transitions.py ├── TMT_Optimizer.py ├── TMT_Runner.py ├── args │ ├── record_dog3d_transitions_args.txt │ ├── record_humanoid3d_transitions_args.txt │ ├── run_dog3d_template_controller_canter_args.txt │ ├── run_dog3d_template_controller_jump_args.txt │ ├── run_dog3d_template_controller_pace_args.txt │ ├── run_dog3d_template_controller_trot_args.txt │ ├── run_dog3d_unified_controller_args.txt │ ├── run_humanoid3d_template_controller_jog_args.txt │ ├── run_humanoid3d_template_controller_run_args.txt │ ├── run_humanoid3d_template_controller_walk_args.txt │ └── run_humanoid3d_unified_controller_args.txt ├── data │ ├── agents │ │ ├── ct_agent_dog_template_controller_canter.txt │ │ ├── ct_agent_dog_template_controller_jump.txt │ │ ├── ct_agent_dog_template_controller_pace.txt │ │ ├── ct_agent_dog_template_controller_trot.txt │ │ ├── ct_agent_dog_unified_controller.txt │ │ ├── ct_agent_humanoid_template_controller_jog_ppo.txt │ │ ├── ct_agent_humanoid_template_controller_run_ppo.txt │ │ ├── ct_agent_humanoid_template_controller_walk_ppo.txt │ │ └── ct_agent_humanoid_unified_controller_ppo.txt │ ├── cache │ │ └── link.txt │ ├── characters │ │ ├── dog3d.txt │ │ └── humanoid3d.txt │ ├── controllers │ │ ├── dog3d_ctrl.txt │ │ └── humanoid3d_ctrl.txt │ ├── motions │ │ ├── dog3d_canter.txt │ │ ├── dog3d_jump.txt │ │ ├── dog3d_pace.txt │ │ ├── dog3d_trot.txt │ │ ├── humanoid3d_jog.txt │ │ ├── humanoid3d_run.txt │ │ └── humanoid3d_walk.txt │ ├── normalizer │ │ └── normalizer.npz │ ├── policies │ │ ├── dog3d_canter.ckpt.data-00000-of-00001 │ │ ├── dog3d_canter.ckpt.index │ │ ├── dog3d_jump.ckpt.data-00000-of-00001 │ │ ├── dog3d_jump.ckpt.index │ │ ├── dog3d_pace.ckpt.data-00000-of-00001 │ │ ├── dog3d_pace.ckpt.index │ │ ├── dog3d_trot.ckpt.data-00000-of-00001 │ │ ├── dog3d_trot.ckpt.index │ │ ├── humanoid3d_jog.ckpt.data-00000-of-00001 │ │ ├── humanoid3d_jog.ckpt.index │ │ ├── humanoid3d_run.ckpt.data-00000-of-00001 │ │ ├── humanoid3d_run.ckpt.index │ │ ├── humanoid3d_walk.ckpt.data-00000-of-00001 │ │ └── humanoid3d_walk.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 │ ├── trajectories │ │ ├── dog3d_canter_trajectory.txt │ │ ├── dog3d_jump_trajectory.txt │ │ ├── dog3d_pace_trajectory.txt │ │ ├── dog3d_trot_trajectory.txt │ │ ├── humanoid3d_jog_trajectory.txt │ │ ├── humanoid3d_run_trajectory.txt │ │ └── humanoid3d_walk_trajectory.txt │ └── trans-tensors │ │ ├── precomputed_tensor_dog_ptcj.pkl │ │ └── precomputed_tensor_humanoid_wjr.pkl ├── plot_transition_tensor.ipynb ├── requirements.txt └── scripts │ ├── __init__.py │ ├── agent_builder.py │ ├── carl_env.py │ ├── carl_ppo_agent.py │ ├── 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