├── .gitignore ├── README.md ├── example_run.sh ├── humanoid_fig.png ├── milo ├── milo │ ├── __init__.py │ ├── cost │ │ ├── __init__.py │ │ └── linear_cost.py │ ├── dataset │ │ ├── __init__.py │ │ └── datasets.py │ ├── dynamics_model │ │ ├── __init__.py │ │ └── mlp_dynamics.py │ ├── gym_env │ │ ├── __init__.py │ │ ├── ant.py │ │ ├── half_cheetah.py │ │ ├── hopper.py │ │ ├── humanoid.py │ │ ├── multiprocessing_env.py │ │ ├── walker2d.py │ │ └── wrappers.py │ ├── sampler │ │ ├── __init__.py │ │ └── sampler.py │ └── utils │ │ ├── __init__.py │ │ ├── arguments.py │ │ ├── evaluate.py │ │ ├── logger.py │ │ └── util.py └── setup.py ├── mjrl ├── .gitignore ├── LICENSE ├── README.md ├── examples │ ├── README.md │ ├── behavior_clone.py │ ├── example_configs │ │ ├── hopper_npg.txt │ │ ├── swimmer_npg.txt │ │ └── swimmer_ppo.txt │ ├── linear_nn_comparison.py │ └── policy_opt_job_script.py ├── mjrl │ ├── __init__.py │ ├── algos │ │ ├── __init__.py │ │ ├── batch_reinforce.py │ │ ├── behavior_cloning.py │ │ ├── dapg.py │ │ ├── mbac.py │ │ ├── model_accel │ │ │ ├── __init__.py │ │ │ ├── model_accel_npg.py │ │ │ ├── model_learning_mpc.py │ │ │ ├── nn_dynamics.py │ │ │ ├── run_experiments │ │ │ │ ├── configs │ │ │ │ │ ├── point_mass.txt │ │ │ │ │ └── reacher.txt │ │ │ │ ├── run_model_accel_npg.py │ │ │ │ ├── sandbox │ │ │ │ │ ├── example_config_mpc.txt │ │ │ │ │ └── run_model_learning_mpc.py │ │ │ │ └── utils │ │ │ │ │ ├── reward_functions │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── mjrl_point_mass.py │ │ │ │ │ ├── visualize_policy.py │ │ │ │ │ └── visualize_trajectories.py │ │ │ └── sampling.py │ │ ├── npg_cg.py │ │ ├── ppo_clip.py │ │ └── trpo.py │ ├── baselines │ │ ├── __init__.py │ │ ├── linear_baseline.py │ │ ├── mlp_baseline.py │ │ ├── quadratic_baseline.py │ │ └── zero_baseline.py │ ├── envs │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── peg_insertion.xml │ │ │ ├── point_mass.xml │ │ │ ├── sawyer.xml │ │ │ └── swimmer.xml │ │ ├── mujoco_env.py │ │ ├── peg_insertion_sawyer.py │ │ ├── point_mass.py │ │ ├── reacher_sawyer.py │ │ └── swimmer.py │ ├── policies │ │ ├── __init__.py │ │ ├── gaussian_linear.py │ │ ├── gaussian_mlp.py │ │ └── mpc_actor.py │ ├── samplers │ │ ├── __init__.py │ │ └── core.py │ └── utils │ │ ├── __init__.py │ │ ├── cg_solve.py │ │ ├── fc_network.py │ │ ├── get_environment.py │ │ ├── gym_env.py │ │ ├── logger.py │ │ ├── make_train_plots.py │ │ ├── optimize_model.py │ │ ├── process_samples.py │ │ ├── tensor_utils.py │ │ ├── train_agent.py │ │ └── visualize_policy.py ├── setup.py ├── setup │ ├── README.md │ └── env.yml └── tests │ ├── point_mass_test.py │ └── visualizer_test.py ├── requirements.txt ├── run.py └── run_hand.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jdchang1/milo/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: 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