├── D2SR_RCAR_中文版.pdf ├── D2SSR ├── __init__.py ├── baseOffPolicy.py ├── d2ssr_train_torch.py ├── td3_per_her.py ├── torch_arguments.py └── tune_d2ssr_main.py ├── DRLib.jpg ├── DRLib_tree.txt ├── HER_DRLib_Net_Reload └── 2022-08-12_HER_mpi1_random_TD3Torch_FetchPush-v1 │ └── 2022-08-12_15-57-53-HER_mpi1_random_TD3Torch_FetchPush-v1_s300 │ ├── actor.pth │ ├── config.json │ ├── norm.pkl │ └── progress.txt ├── HER_DRLib_mpi ├── 2022-07-29_HER_mpi19_random_TD3_FetchPush-v1 │ └── 2022-07-29_12-21-04-HER_mpi19_random_TD3_FetchPush-v1_s123 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-29_HER_mpi1_random_TD3Torch_FetchPickAndPlace-v1 │ └── 2022-07-29_12-22-08-HER_mpi1_random_TD3Torch_FetchPickAndPlace-v1_s123 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-29_HER_mpi1_random_TD3_FetchPush-v1 │ ├── 2022-07-29_12-21-16-HER_mpi1_random_TD3_FetchPush-v1_s123 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-29_12-24-48-HER_mpi1_random_TD3_FetchPush-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-29_12-24-56-HER_mpi1_random_TD3_FetchPush-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-29_HER_mpi6_random_TD3Torch_FetchPickAndPlace-v1 │ └── 2022-07-29_12-22-27-HER_mpi6_random_TD3Torch_FetchPickAndPlace-v1_s123 │ │ ├── config.json │ │ └── progress.txt └── MPI1-6-19.png ├── HER_DRLib_mpi1 ├── 2022-07-29_HER_mpi1_random_TD3_FetchPickAndPlace-v1 │ ├── 2022-07-29_12-25-10-HER_mpi1_random_TD3_FetchPickAndPlace-v1_s300 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-29_12-25-21-HER_mpi1_random_TD3_FetchPickAndPlace-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-29_12-25-27-HER_mpi1_random_TD3_FetchPickAndPlace-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-29_HER_mpi1_random_TD3_FetchPush-v1 │ ├── 2022-07-29_12-21-16-HER_mpi1_random_TD3_FetchPush-v1_s123 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-29_12-24-48-HER_mpi1_random_TD3_FetchPush-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-29_12-24-56-HER_mpi1_random_TD3_FetchPush-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-29_HER_mpi1_random_TD3_FetchSlide-v1 │ ├── 2022-07-29_12-25-42-HER_mpi1_random_TD3_FetchSlide-v1_s300 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-29_12-25-46-HER_mpi1_random_TD3_FetchSlide-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-29_12-25-47-HER_mpi1_random_TD3_FetchSlide-v1_s100 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-30_HER_mpi1_random_DDPG_FetchPickAndPlace-v1 │ ├── 2022-07-30_22-19-36-HER_mpi1_random_DDPG_FetchPickAndPlace-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-30_22-19-42-HER_mpi1_random_DDPG_FetchPickAndPlace-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-30_22-19-45-HER_mpi1_random_DDPG_FetchPickAndPlace-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-30_HER_mpi1_random_DDPG_FetchPush-v1 │ ├── 2022-07-30_22-19-22-HER_mpi1_random_DDPG_FetchPush-v1_s300 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-30_22-19-27-HER_mpi1_random_DDPG_FetchPush-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-30_22-19-30-HER_mpi1_random_DDPG_FetchPush-v1_s100 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-30_HER_mpi1_random_DDPG_FetchSlide-v1 │ ├── 2022-07-30_22-18-55-HER_mpi1_random_DDPG_FetchSlide-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-30_22-19-10-HER_mpi1_random_DDPG_FetchSlide-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-30_22-19-14-HER_mpi1_random_DDPG_FetchSlide-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-31_HER_mpi1_random_SAC_AUTO_FetchPickAndPlace-v1 │ ├── 2022-07-31_17-09-31-HER_mpi1_random_SAC_AUTO_FetchPickAndPlace-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-31_17-09-33-HER_mpi1_random_SAC_AUTO_FetchPickAndPlace-v1_s300 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-31_17-09-34-HER_mpi1_random_SAC_AUTO_FetchPickAndPlace-v1_s200 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-31_HER_mpi1_random_SAC_AUTO_FetchPush-v1 │ ├── 2022-07-31_17-09-45-HER_mpi1_random_SAC_AUTO_FetchPush-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-31_17-09-48-HER_mpi1_random_SAC_AUTO_FetchPush-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-31_17-09-48-HER_mpi1_random_SAC_AUTO_FetchPush-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-31_HER_mpi1_random_SAC_AUTO_FetchSlide-v1 │ ├── 2022-07-31_17-09-58-HER_mpi1_random_SAC_AUTO_FetchSlide-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-31_17-10-05-HER_mpi1_random_SAC_AUTO_FetchSlide-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-31_17-10-07-HER_mpi1_random_SAC_AUTO_FetchSlide-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-31_HER_mpi1_random_SAC_FetchPickAndPlace-v1 │ ├── 2022-07-31_17-09-01-HER_mpi1_random_SAC_FetchPickAndPlace-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-31_17-09-03-HER_mpi1_random_SAC_FetchPickAndPlace-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-31_17-09-05-HER_mpi1_random_SAC_FetchPickAndPlace-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-31_HER_mpi1_random_SAC_FetchPush-v1 │ ├── 2022-07-31_17-08-42-HER_mpi1_random_SAC_FetchPush-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-31_17-08-44-HER_mpi1_random_SAC_FetchPush-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-31_17-08-48-HER_mpi1_random_SAC_FetchPush-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-07-31_HER_mpi1_random_SAC_FetchSlide-v1 │ ├── 2022-07-31_17-08-20-HER_mpi1_random_SAC_FetchSlide-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-07-31_17-08-26-HER_mpi1_random_SAC_FetchSlide-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-07-31_17-08-29-HER_mpi1_random_SAC_FetchSlide-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-08-01_HER_mpi1_random_DDPGTorch_FetchPickAndPlace-v1 │ ├── 2022-08-01_12-21-12-HER_mpi1_random_DDPGTorch_FetchPickAndPlace-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-08-01_12-21-16-HER_mpi1_random_DDPGTorch_FetchPickAndPlace-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-08-01_12-21-19-HER_mpi1_random_DDPGTorch_FetchPickAndPlace-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-08-01_HER_mpi1_random_DDPGTorch_FetchPush-v1 │ ├── 2022-08-01_12-20-44-HER_mpi1_random_DDPGTorch_FetchPush-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-08-01_12-20-54-HER_mpi1_random_DDPGTorch_FetchPush-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-08-01_12-20-57-HER_mpi1_random_DDPGTorch_FetchPush-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-08-01_HER_mpi1_random_DDPGTorch_FetchSlide-v1 │ ├── 2022-08-01_12-21-31-HER_mpi1_random_DDPGTorch_FetchSlide-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-08-01_12-21-36-HER_mpi1_random_DDPGTorch_FetchSlide-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-08-01_12-21-39-HER_mpi1_random_DDPGTorch_FetchSlide-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-08-01_HER_mpi1_random_SACTorch_FetchPickAndPlace-v1 │ ├── 2022-08-01_12-22-28-HER_mpi1_random_SACTorch_FetchPickAndPlace-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-08-01_12-22-30-HER_mpi1_random_SACTorch_FetchPickAndPlace-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-08-01_12-22-34-HER_mpi1_random_SACTorch_FetchPickAndPlace-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-08-01_HER_mpi1_random_SACTorch_FetchPush-v1 │ ├── 2022-08-01_12-22-12-HER_mpi1_random_SACTorch_FetchPush-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-08-01_12-22-16-HER_mpi1_random_SACTorch_FetchPush-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-08-01_12-22-18-HER_mpi1_random_SACTorch_FetchPush-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-08-01_HER_mpi1_random_SACTorch_FetchSlide-v1 │ ├── 2022-08-01_12-21-55-HER_mpi1_random_SACTorch_FetchSlide-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-08-01_12-21-58-HER_mpi1_random_SACTorch_FetchSlide-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-08-01_12-22-01-HER_mpi1_random_SACTorch_FetchSlide-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-08-01_HER_mpi1_random_TD3Torch_FetchPickAndPlace-v1 │ ├── 2022-08-01_12-15-29-HER_mpi1_random_TD3Torch_FetchPickAndPlace-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-08-01_12-15-36-HER_mpi1_random_TD3Torch_FetchPickAndPlace-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-08-01_12-15-40-HER_mpi1_random_TD3Torch_FetchPickAndPlace-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2022-08-01_HER_mpi1_random_TD3Torch_FetchPush-v1 │ ├── 2022-08-01_12-15-51-HER_mpi1_random_TD3Torch_FetchPush-v1_s300 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-08-01_12-16-00-HER_mpi1_random_TD3Torch_FetchPush-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-08-01_12-16-07-HER_mpi1_random_TD3Torch_FetchPush-v1_s100 │ │ ├── config.json │ │ └── progress.txt ├── 2022-08-01_HER_mpi1_random_TD3Torch_FetchSlide-v1 │ ├── 2022-08-01_12-16-17-HER_mpi1_random_TD3Torch_FetchSlide-v1_s100 │ │ ├── config.json │ │ └── progress.txt │ ├── 2022-08-01_12-16-22-HER_mpi1_random_TD3Torch_FetchSlide-v1_s200 │ │ ├── config.json │ │ └── progress.txt │ └── 2022-08-01_12-16-25-HER_mpi1_random_TD3Torch_FetchSlide-v1_s300 │ │ ├── config.json │ │ └── progress.txt ├── 2ep_reward_Pick.png ├── 2ep_reward_Push.png └── 2ep_reward_Slide.png ├── LICENSE ├── README.md ├── algos ├── __init__.py ├── pytorch │ ├── __init__.py │ ├── ddpg_sp │ │ ├── __init__.py │ │ ├── core.py │ │ ├── ddpg.py │ │ └── ddpg_per_her.py │ ├── offPolicy │ │ ├── HER_introduction.md │ │ ├── __init__.py │ │ ├── baseOffPolicy.py │ │ └── norm.py │ ├── sac_sp │ │ ├── __init__.py │ │ ├── core.py │ │ ├── sac.py │ │ └── sac_per_her.py │ └── td3_sp │ │ ├── MPI_td3_per_her.py │ │ ├── README.md │ │ ├── __init__.py │ │ ├── core.py │ │ ├── td3_gpu_class.py │ │ └── td3_per_her.py └── tf1 │ ├── __init__.py │ ├── ddpg_sp │ ├── DDPG_class.py │ ├── DDPG_per_class.py │ ├── DDPG_per_her.py │ ├── DDPG_per_her_class.py │ ├── DDPG_sp.py │ ├── MPI_DDPG_per_her.py │ ├── __init__.py │ └── core.py │ ├── offPolicy │ ├── __init__.py │ ├── baseOffPolicy.py │ ├── core.py │ └── norm.py │ ├── sac_auto │ ├── MPI_sac_auto_per_her.py │ ├── __init__.py │ ├── core.py │ ├── sac_auto_class.py │ ├── sac_auto_per_class.py │ └── sac_auto_per_her.py │ ├── sac_sp │ ├── MPI_SAC_per_her.py │ ├── SAC_class.py │ ├── SAC_per_class.py │ ├── SAC_per_her.py │ ├── SAC_sp.py │ ├── __init__.py │ └── core.py │ └── td3_sp │ ├── MPI_TD3_per_her.py │ ├── README.md │ ├── TD3_class.py │ ├── TD3_per_class.py │ ├── TD3_per_her.py │ ├── TD3_per_her_class.py │ ├── TD3_sp.py │ ├── __init__.py │ └── core.py ├── arguments.py ├── gym ├── __init__.py ├── core.py ├── demo.py ├── demo_drawer.py ├── demo_insert_rand.py ├── demo_obs_push.py ├── double_push_demo.py ├── drawer2.png ├── drawer_box_demo.py ├── envs │ ├── __init__.py │ ├── algorithmic │ │ ├── __init__.py │ │ ├── algorithmic_env.py │ │ ├── copy_.py │ │ ├── duplicated_input.py │ │ ├── repeat_copy.py │ │ ├── reverse.py │ │ ├── reversed_addition.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ └── test_algorithmic.py │ ├── atari │ │ ├── __init__.py │ │ └── atari_env.py │ ├── box2d │ │ ├── __init__.py │ │ ├── bipedal_walker.py │ │ ├── car_dynamics.py │ │ ├── car_racing.py │ │ ├── lunar_lander.py │ │ └── test_lunar_lander.py │ ├── classic_control │ │ ├── __init__.py │ │ ├── acrobot.py │ │ ├── assets │ │ │ └── clockwise.png │ │ ├── cartpole.py │ │ ├── continuous_mountain_car.py │ │ ├── mountain_car.py │ │ ├── pendulum.py │ │ └── rendering.py │ ├── mujoco │ │ ├── __init__.py │ │ ├── ant.py │ │ ├── ant_v3.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ ├── half_cheetah.xml │ │ │ ├── hopper.xml │ │ │ ├── humanoid.xml │ │ │ ├── humanoidstandup.xml │ │ │ ├── inverted_double_pendulum.xml │ │ │ ├── inverted_pendulum.xml │ │ │ ├── point.xml │ │ │ ├── pusher.xml │ │ │ ├── reacher.xml │ │ │ ├── striker.xml │ │ │ ├── swimmer.xml │ │ │ ├── thrower.xml │ │ │ └── walker2d.xml │ │ ├── half_cheetah.py │ │ ├── half_cheetah_v3.py │ │ ├── hopper.py │ │ ├── hopper_v3.py │ │ ├── humanoid.py │ │ ├── humanoid_v3.py │ │ ├── humanoidstandup.py │ │ ├── inverted_double_pendulum.py │ │ ├── inverted_pendulum.py │ │ ├── mujoco_env.py │ │ ├── pusher.py │ │ ├── pusher2d_her.py │ │ ├── reacher.py │ │ ├── reacher2d_her.py │ │ ├── reacher2d_her_harder.py │ │ ├── striker.py │ │ ├── swimmer.py │ │ ├── swimmer_v3.py │ │ ├── thrower.py │ │ ├── walker2d.py │ │ └── walker2d_v3.py │ ├── registration.py │ ├── robotics │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── LICENSE.md │ │ │ ├── fetch │ │ │ │ ├── double_push.xml │ │ │ │ ├── drawer.xml │ │ │ │ ├── drawer_body.xml │ │ │ │ ├── drawer_box.xml │ │ │ │ ├── drawer_dependencies.xml │ │ │ │ ├── insert_rand.xml │ │ │ │ ├── obs_push.xml │ │ │ │ ├── occ_push.xml │ │ │ │ ├── pick_and_place.xml │ │ │ │ ├── push.xml │ │ │ │ ├── reach.xml │ │ │ │ ├── robot.xml │ │ │ │ ├── shared.xml │ │ │ │ ├── slide.xml │ │ │ │ ├── stack.xml │ │ │ │ ├── three_push.xml │ │ │ │ └── three_stack.xml │ │ │ ├── hand │ │ │ │ ├── manipulate_block.xml │ │ │ │ ├── manipulate_block_touch_sensors.xml │ │ │ │ ├── manipulate_egg.xml │ │ │ │ ├── manipulate_egg_touch_sensors.xml │ │ │ │ ├── manipulate_pen.xml │ │ │ │ ├── manipulate_pen_touch_sensors.xml │ │ │ │ ├── reach.xml │ │ │ │ ├── robot.xml │ │ │ │ ├── robot_touch_sensors_92.xml │ │ │ │ ├── shared.xml │ │ │ │ ├── shared_asset.xml │ │ │ │ └── shared_touch_sensors_92.xml │ │ │ ├── stls │ │ │ │ ├── fetch │ │ │ │ │ ├── base_link_collision.stl │ │ │ │ │ ├── bellows_link_collision.stl │ │ │ │ │ ├── drawer.stl │ │ │ │ │ ├── drawercase.stl │ │ │ │ │ ├── drawerhandle.stl │ │ │ │ │ ├── elbow_flex_link_collision.stl │ │ │ │ │ ├── estop_link.stl │ │ │ │ │ ├── forearm_roll_link_collision.stl │ │ │ │ │ ├── gripper_link.stl │ │ │ │ │ ├── head_pan_link_collision.stl │ │ │ │ │ ├── head_tilt_link_collision.stl │ │ │ │ │ ├── l_wheel_link_collision.stl │ │ │ │ │ ├── laser_link.stl │ │ │ │ │ ├── r_wheel_link_collision.stl │ │ │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ │ │ ├── torso_fixed_link.stl │ │ │ │ │ ├── torso_lift_link_collision.stl │ │ │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ │ │ ├── window_base.stl │ │ │ │ │ ├── window_frame.stl │ │ │ │ │ ├── window_h_base.stl │ │ │ │ │ ├── window_h_frame.stl │ │ │ │ │ ├── windowa_frame.stl │ │ │ │ │ ├── windowa_glass.stl │ │ │ │ │ ├── windowa_h_frame.stl │ │ │ │ │ ├── windowa_h_glass.stl │ │ │ │ │ ├── windowb_frame.stl │ │ │ │ │ ├── windowb_glass.stl │ │ │ │ │ ├── windowb_h_frame.stl │ │ │ │ │ ├── windowb_h_glass.stl │ │ │ │ │ ├── wrist_flex_link_collision.stl │ │ │ │ │ └── wrist_roll_link_collision.stl │ │ │ │ └── hand │ │ │ │ │ ├── F1.stl │ │ │ │ │ ├── F2.stl │ │ │ │ │ ├── F3.stl │ │ │ │ │ ├── TH1_z.stl │ │ │ │ │ ├── TH2_z.stl │ │ │ │ │ ├── TH3_z.stl │ │ │ │ │ ├── forearm_electric.stl │ │ │ │ │ ├── forearm_electric_cvx.stl │ │ │ │ │ ├── knuckle.stl │ │ │ │ │ ├── lfmetacarpal.stl │ │ │ │ │ ├── palm.stl │ │ │ │ │ └── wrist.stl │ │ │ └── textures │ │ │ │ ├── block.png │ │ │ │ └── block_hidden.png │ │ ├── fetch │ │ │ ├── __init__.py │ │ │ ├── dpush.py │ │ │ ├── drawer.py │ │ │ ├── drawer_box.py │ │ │ ├── insert.py │ │ │ ├── insert_rand.py │ │ │ ├── obs_push.py │ │ │ ├── occ_push.py │ │ │ ├── pick_and_place.py │ │ │ ├── push.py │ │ │ ├── reach.py │ │ │ ├── slide.py │ │ │ ├── stack.py │ │ │ ├── tpush.py │ │ │ └── tstack.py │ │ ├── fetch_double_push_env.py │ │ ├── fetch_drawer_box_env.py │ │ ├── fetch_drawer_env.py │ │ ├── fetch_env.py │ │ ├── fetch_insert_env.py │ │ ├── fetch_insert_rand_env.py │ │ ├── fetch_obs_push_env.py │ │ ├── fetch_occ_push_env.py │ │ ├── fetch_stack_env.py │ │ ├── fetch_three_push_env.py │ │ ├── fetch_three_stack_env.py │ │ ├── hand │ │ │ ├── __init__.py │ │ │ ├── manipulate.py │ │ │ ├── manipulate_touch_sensors.py │ │ │ └── reach.py │ │ ├── hand_env.py │ │ ├── robot_double_push_env.py │ │ ├── robot_env.py │ │ ├── robot_joint_env.py │ │ ├── robot_stack_env.py │ │ ├── robot_three_push_env.py │ │ ├── robot_three_stack_env.py │ │ ├── rotations.py │ │ └── utils.py │ ├── tests │ │ ├── __init__.py │ │ ├── spec_list.py │ │ ├── test_determinism.py │ │ ├── test_envs.py │ │ ├── test_envs_semantics.py │ │ ├── test_frozenlake_dfs.py │ │ ├── test_kellycoinflip.py │ │ ├── test_mujoco_v2_to_v3_conversion.py │ │ └── test_registration.py │ ├── toy_text │ │ ├── __init__.py │ │ ├── blackjack.py │ │ ├── cliffwalking.py │ │ ├── discrete.py │ │ ├── frozen_lake.py │ │ ├── guessing_game.py │ │ ├── hotter_colder.py │ │ ├── kellycoinflip.py │ │ ├── nchain.py │ │ ├── roulette.py │ │ └── taxi.py │ └── unittest │ │ ├── __init__.py │ │ ├── cube_crash.py │ │ └── memorize_digits.py ├── error.py ├── logger.py ├── mjkey.txt ├── obstacle_push.png ├── spaces │ ├── __init__.py │ ├── box.py │ ├── dict.py │ ├── discrete.py │ ├── multi_binary.py │ ├── multi_discrete.py │ ├── space.py │ ├── tests │ │ ├── __init__.py │ │ ├── test_spaces.py │ │ └── test_utils.py │ ├── tuple.py │ └── utils.py ├── stack_demo.py ├── three_push_demo.py ├── three_stack_demo.py ├── utils │ ├── __init__.py │ ├── atomic_write.py │ ├── closer.py │ ├── colorize.py │ ├── ezpickle.py │ ├── json_utils.py │ ├── play.py │ └── seeding.py ├── vector │ ├── __init__.py │ ├── async_vector_env.py │ ├── sync_vector_env.py │ ├── tests │ │ ├── __init__.py │ │ ├── test_async_vector_env.py │ │ ├── test_numpy_utils.py │ │ ├── test_shared_memory.py │ │ ├── test_spaces.py │ │ ├── test_sync_vector_env.py │ │ ├── test_vector_env.py │ │ ├── test_vector_env_wrapper.py │ │ └── utils.py │ ├── utils │ │ ├── __init__.py │ │ ├── misc.py │ │ ├── numpy_utils.py │ │ ├── shared_memory.py │ │ └── spaces.py │ └── vector_env.py ├── version.py └── wrappers │ ├── __init__.py │ ├── atari_preprocessing.py │ ├── clip_action.py │ ├── filter_observation.py │ ├── flatten_observation.py │ ├── frame_stack.py │ ├── gray_scale_observation.py │ ├── monitor.py │ ├── monitoring │ ├── __init__.py │ ├── stats_recorder.py │ ├── tests │ │ ├── __init__.py │ │ ├── helpers.py │ │ └── test_video_recorder.py │ └── video_recorder.py │ ├── pixel_observation.py │ ├── record_episode_statistics.py │ ├── rescale_action.py │ ├── resize_observation.py │ ├── test_atari_preprocessing.py │ ├── test_clip_action.py │ ├── test_filter_observation.py │ ├── test_flatten_observation.py │ ├── test_frame_stack.py │ ├── test_gray_scale_observation.py │ ├── test_pixel_observation.py │ ├── test_record_episode_statistics.py │ ├── test_rescale_action.py │ ├── test_resize_observation.py │ ├── test_time_aware_observation.py │ ├── test_transform_observation.py │ ├── test_transform_reward.py │ ├── tests │ └── __init__.py │ ├── time_aware_observation.py │ ├── time_limit.py │ ├── transform_observation.py │ └── transform_reward.py ├── memory ├── __init__.py ├── per_memory.py ├── simple_memory.py ├── sp_memory.py ├── sp_memory_torch.py ├── sp_per_memory.py └── sp_per_memory_torch.py ├── pip_requirement.txt ├── spinup_utils ├── README.md ├── __init__.py ├── delete_no_checkpoint_or_pth.py ├── demo.png ├── group_plot.py ├── log2table.py ├── logx.py ├── mpi_pytorch.py ├── mpi_tf.py ├── mpi_tools.py ├── plot.py ├── plot_demo_files │ ├── 2020-10-02_12-18-23-gym_clean_buffer_reach_d2s_dense_n2b2_s5958 │ │ ├── config.json │ │ └── progress.txt │ ├── 2020-10-02_12-18-42-gym_clean_buffer_reach_d2s_dense_n2b2_s9317 │ │ ├── config.json │ │ └── progress.txt │ ├── 2020-10-02_12-18-43-gym_clean_buffer_reach_d2s_dense_n2b2_s7515 │ │ ├── config.json │ │ └── progress.txt │ ├── 2020-10-02_12-18-50-gym_clean_buffer_reach_d2s_dense_n2b2_s9180 │ │ ├── config.json │ │ └── progress.txt │ └── __init__.py ├── plot_success.py ├── 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