├── .dockerignore ├── .flake8 ├── .gitignore ├── .pre-commit-config.yaml ├── .travis.yml ├── CMakeLists.txt ├── Dockerfile ├── Makefile ├── README.md ├── __init__.py ├── docker_train.sh ├── launch ├── open_manipulator_cam_env.launch ├── open_manipulator_demo.launch └── open_manipulator_env.launch ├── msg └── GoalObs.msg ├── package.xml ├── scripts ├── .isort.cfg ├── __init__.py ├── algorithms │ ├── __init__.py │ ├── common │ │ ├── __init__.py │ │ ├── abstract │ │ │ ├── __init__.py │ │ │ ├── agent.py │ │ │ ├── her.py │ │ │ └── reward_fn.py │ │ ├── buffer │ │ │ ├── __init__.py │ │ │ ├── priortized_replay_buffer.py │ │ │ ├── replay_buffer.py │ │ │ └── segment_tree.py │ │ ├── helper_functions.py │ │ ├── networks │ │ │ ├── __init__.py │ │ │ ├── lstm.py │ │ │ └── mlp.py │ │ └── noise.py │ ├── fd │ │ ├── __init__.py │ │ ├── sac_agent.py │ │ └── td3_agent.py │ ├── sac │ │ ├── __init__.py │ │ └── agent.py │ └── td3 │ │ ├── __init__.py │ │ └── agent.py ├── config │ ├── __init__.py │ ├── agent │ │ ├── __init__.py │ │ ├── lunarlander_continuous_v2 │ │ │ ├── __init__.py │ │ │ ├── sac.py │ │ │ ├── sacfd.py │ │ │ ├── td3.py │ │ │ ├── td3fd.py │ │ │ └── utils.py │ │ ├── open_manipulator_reacher_v0 │ │ │ ├── __init__.py │ │ │ └── td3.py │ │ └── reacher-v1 │ │ │ ├── __init__.py │ │ │ ├── sac.py │ │ │ ├── sacfd.py │ │ │ ├── td3.py │ │ │ └── td3fd.py │ ├── demo │ │ ├── __init__.py │ │ └── open_manipulator │ │ │ ├── __init__.py │ │ │ └── reacher_v0.py │ ├── dynamixel │ │ └── config.py │ └── environment │ │ ├── __init__.py │ │ └── open_manipulator.py ├── data │ ├── lunarlander_continuous_demo.pkl │ └── reacher_demo.pkl ├── demo │ ├── __init__.py │ └── open_manipulator │ │ ├── __init__.py │ │ └── open_manipulator_demo_collector.py ├── dxl_read_write.py ├── envs │ ├── __init__.py │ └── open_manipulator │ │ ├── __init__.py │ │ ├── open_manipulator_reacher_env.py │ │ └── ros_interface.py ├── gazebo_test_open_manipulator.py ├── requirements-dev.txt ├── requirements.txt ├── run_lunarlander_continuous.py ├── run_open_manipulator_demo.py ├── run_open_manipulator_reacher_v0.py ├── run_reacher_v1.py ├── test_lstm.py └── utils.py └── urdf ├── block └── model.urdf ├── camera.urdf.xacro ├── open_manipulator.urdf └── open_manipulator_cam.urdf.xacro /.dockerignore: -------------------------------------------------------------------------------- 1 | ** 2 | -------------------------------------------------------------------------------- /.flake8: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kairproject/kair_algorithms_draft/HEAD/.flake8 -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kairproject/kair_algorithms_draft/HEAD/.gitignore -------------------------------------------------------------------------------- /.pre-commit-config.yaml: 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