├── .gitignore ├── README.md ├── assets ├── mjcf │ ├── amp_humanoid.xml │ ├── balance_bot.xml │ ├── humanoid_CMU_V2020_v2.xml │ ├── nv_ant.xml │ └── nv_humanoid.xml ├── motions │ └── samples │ │ ├── amp_humanoid_dance.npy │ │ ├── amp_humanoid_hop.npy │ │ ├── amp_humanoid_run.npy │ │ └── amp_humanoid_walk.npy └── urdf │ ├── arrow │ ├── arrow.urdf │ └── mesh │ │ ├── GPS_Navigation_Arrow.mtl │ │ ├── GPS_Navigation_Arrow.obj │ │ ├── GPS_Navigation_Arrow_modified.mtl │ │ ├── GPS_Navigation_Arrow_modified.obj │ │ ├── simple_arrow.mtl │ │ ├── simple_arrow.obj │ │ └── textures │ │ ├── arrow_AO.png │ │ ├── arrow_Albedo.png │ │ ├── arrow_BaseColor.png │ │ ├── arrow_Diffuse.png │ │ ├── arrow_Glossiness.png │ │ ├── arrow_Height.png │ │ ├── arrow_Metallic.png │ │ ├── arrow_Normal.png │ │ ├── arrow_Roughness.png │ │ └── arrow_Specular.png │ └── hollow_cylinder │ ├── hollow_cylinder.urdf │ └── mesh │ ├── hollow_cylinder.mtl │ └── hollow_cylinder.obj ├── docs ├── assets │ ├── 3dv.png │ ├── apple-touch-icon.png │ ├── favicon-16x16.png │ ├── favicon-32x32.png │ ├── pipeline.png │ └── teaser.png ├── css │ └── styles.css ├── images │ ├── imitation.png │ ├── navigation.png │ └── tracking.png ├── index.html └── js │ └── bulma_toggle.js ├── isaacgymenvs ├── __init__.py ├── cfg │ ├── config.yaml │ ├── pbt │ │ ├── mutation │ │ │ ├── allegro_hand_mutation.yaml │ │ │ ├── allegro_kuka_mutation.yaml │ │ │ ├── ant_mutation.yaml │ │ │ ├── default_mutation.yaml │ │ │ └── humanoid_mutation.yaml │ │ ├── no_pbt.yaml │ │ └── pbt_default.yaml │ ├── task │ │ ├── Imitation.yaml │ │ ├── ImitationAMP.yaml │ │ ├── ImitationMultiDataset.yaml │ │ ├── MotionInBetweening.yaml │ │ ├── PointGoalNavigation.yaml │ │ └── Tracking.yaml │ └── train │ │ ├── LafanImitation │ │ ├── LafanExpertAMPPPO.yaml │ │ └── LafanPLTDistill.yaml │ │ ├── LafanTasks │ │ ├── LafanNavLatentMultiDiscretePPO.yaml │ │ └── LafanTrackLatentMultiDiscretePPO.yaml │ │ └── MotionTransfer │ │ └── LafanAssassinPLTAdaptationPPO.yaml ├── learning │ ├── __init__.py │ ├── amp_continuous.py │ ├── amp_datasets.py │ ├── amp_models.py │ ├── amp_network_builder.py │ ├── amp_players.py │ ├── common_agent.py │ ├── common_discrete_agent.py │ ├── common_models.py │ ├── common_network_builder.py │ ├── common_player.py │ ├── cvae_agent.py │ ├── cvae_amp_agent.py │ ├── cvae_amp_model.py │ ├── cvae_amp_network_builder.py │ ├── cvae_amp_player.py │ ├── cvae_group_model.py │ ├── cvae_group_network_builder.py │ ├── cvae_model.py │ ├── cvae_network_builder.py │ ├── cvae_player.py │ ├── hier_multi_discrete_builder.py │ ├── hrl_continuous.py │ ├── hrl_models.py │ ├── latent_continuous_agent.py │ ├── latent_continuous_player.py │ ├── latent_discrete_agent.py │ ├── latent_discrete_player.py │ ├── mlp_continuous_agent.py │ ├── mlp_continuous_player.py │ ├── mlp_discrete_agent.py │ └── replay_buffer.py ├── pbt │ ├── __init__.py │ ├── experiments │ │ ├── __init__.py │ │ ├── allegro_kuka_pbt_base.py │ │ ├── allegro_kuka_regrasping_lstm.py │ │ ├── allegro_kuka_regrasping_pbt_lstm.py │ │ ├── allegro_kuka_reorientation_lstm.py │ │ ├── allegro_kuka_reorientation_lstm_8gpu.py │ │ ├── allegro_kuka_reorientation_pbt_lstm.py │ │ ├── allegro_kuka_throw_lstm.py │ │ ├── allegro_kuka_throw_pbt_lstm.py │ │ ├── allegro_kuka_two_arms_regrasping_lstm.py │ │ ├── allegro_kuka_two_arms_regrasping_pbt_lstm.py │ │ ├── allegro_kuka_two_arms_reorientation_lstm.py │ │ ├── allegro_kuka_two_arms_reorientation_pbt_lstm.py │ │ ├── ant_pbt.py │ │ └── run_utils.py │ ├── launcher │ │ ├── LICENSE │ │ ├── __init__.py │ │ ├── run.py │ │ ├── run_description.py │ │ ├── run_ngc.py │ │ ├── run_processes.py │ │ ├── run_slurm.py │ │ └── slurm │ │ │ └── sbatch_timeout.sh │ ├── mutation.py │ └── pbt.py ├── tasks │ ├── __init__.py │ ├── amp │ │ ├── __init__.py │ │ ├── humanoid_amp_base.py │ │ ├── poselib │ │ │ ├── README.md │ │ │ ├── generate_amp_humanoid_tpose.py │ │ │ ├── generate_lafan_tpose.py │ │ │ ├── lafan1 │ │ │ │ ├── extract.py │ │ │ │ └── utils.py │ │ │ ├── lafan_bvh_to_npz.py │ │ │ ├── lafan_processing.py │ │ │ └── poselib │ │ │ │ ├── __init__.py │ │ │ │ ├── core │ │ │ │ ├── __init__.py │ │ │ │ ├── backend │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── abstract.py │ │ │ │ │ └── logger.py │ │ │ │ ├── rotation3d.py │ │ │ │ ├── tensor_utils.py │ │ │ │ └── tests │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── test_rotation.py │ │ │ │ ├── skeleton │ │ │ │ ├── __init__.py │ │ │ │ ├── backend │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── fbx │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── fbx_backend.py │ │ │ │ │ │ └── fbx_read_wrapper.py │ │ │ │ └── skeleton3d.py │ │ │ │ └── visualization │ │ │ │ ├── __init__.py │ │ │ │ ├── common.py │ │ │ │ ├── core.py │ │ │ │ ├── plt_plotter.py │ │ │ │ ├── simple_plotter_tasks.py │ │ │ │ ├── skeleton_plotter_tasks.py │ │ │ │ └── tests │ │ │ │ ├── __init__.py │ │ │ │ └── test_plotter.py │ │ └── utils_amp │ │ │ ├── __init__.py │ │ │ ├── amp_torch_utils.py │ │ │ ├── data_tree.py │ │ │ ├── gym_util.py │ │ │ ├── logger.py │ │ │ └── motion_lib.py │ ├── base │ │ ├── __init__.py │ │ └── vec_task.py │ ├── humanoid_amp.py │ ├── humanoid_imitate.py │ ├── humanoid_imitate_amp.py │ ├── humanoid_imitate_multi_dataset.py │ ├── humanoid_inbetweening.py │ ├── humanoid_navigation.py │ ├── humanoid_tracking.py │ └── utils │ │ ├── __init__.py │ │ └── generate_cuboids.py ├── train.py └── utils │ ├── __init__.py │ ├── dr_utils.py │ ├── plot_results │ ├── plot_aim_assassin_2stage.py │ ├── plot_aim_assassin_3stage.py │ └── plot_return_curve.py │ ├── quantizers.py │ ├── reformat.py │ ├── rlgames_utils.py │ ├── rna_util.py │ ├── smpl_sim │ ├── math_utils.py │ ├── smpl_eval.py │ └── transformation.py │ ├── torch_jit_utils.py │ ├── utils.py │ └── wandb_utils.py ├── setup.py ├── setup_conda_env_extra_cuda111.sh ├── setup_conda_env_extra_cuda117.sh └── vector_quantize_pytorch ├── __init__.py ├── finite_scalar_quantization.py ├── lookup_free_quantization.py ├── random_projection_quantizer.py ├── residual_fsq.py ├── residual_vq.py ├── 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