├── .gitignore ├── LICENSE ├── README.md ├── RHER-中文版.pdf ├── RHER.jpg ├── RHER.yaml ├── RHER_Git.pdf ├── RHER_torch ├── __init__.py ├── baseOffPolicy.py ├── obs_replay_buffer.py ├── td3_per_her_bc.py ├── torch_arguments.py ├── train_torch.py └── tune_rher_main.py ├── 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 ├── baselines ├── __init__.py ├── a2c │ ├── README.md │ ├── __init__.py │ ├── a2c.py │ ├── runner.py │ └── utils.py ├── acer │ ├── README.md │ ├── __init__.py │ ├── acer.py │ ├── buffer.py │ ├── defaults.py │ ├── policies.py │ └── runner.py ├── acktr │ ├── README.md │ ├── __init__.py │ ├── acktr.py │ ├── defaults.py │ ├── kfac.py │ ├── kfac_utils.py │ └── utils.py ├── bench │ ├── __init__.py │ ├── benchmarks.py │ ├── monitor.py │ └── test_monitor.py ├── common │ ├── __init__.py │ ├── atari_wrappers.py │ ├── cg.py │ ├── cmd_util.py │ ├── console_util.py │ ├── dataset.py │ ├── distributions.py │ ├── input.py │ ├── math_util.py │ ├── misc_util.py │ ├── models.py │ ├── mpi_adam.py │ ├── mpi_adam_optimizer.py │ ├── mpi_fork.py │ ├── mpi_moments.py │ ├── mpi_running_mean_std.py │ ├── mpi_util.py │ ├── plot_util.py │ ├── policies.py │ ├── retro_wrappers.py │ ├── runners.py │ ├── running_mean_std.py │ ├── schedules.py │ ├── segment_tree.py │ ├── test_mpi_util.py │ ├── tests │ │ ├── __init__.py │ │ ├── envs │ │ │ ├── __init__.py │ │ │ ├── fixed_sequence_env.py │ │ │ ├── identity_env.py │ │ │ ├── identity_env_test.py │ │ │ └── mnist_env.py │ │ ├── test_cartpole.py │ │ ├── test_doc_examples.py │ │ ├── test_env_after_learn.py │ │ ├── test_fetchreach.py │ │ ├── test_fixed_sequence.py │ │ ├── test_identity.py │ │ ├── test_mnist.py │ │ ├── test_plot_util.py │ │ ├── test_schedules.py │ │ ├── test_segment_tree.py │ │ ├── test_serialization.py │ │ ├── test_tf_util.py │ │ ├── test_with_mpi.py │ │ └── util.py │ ├── tf_util.py │ ├── tile_images.py │ ├── vec_env │ │ ├── __init__.py │ │ ├── dummy_vec_env.py │ │ ├── shmem_vec_env.py │ │ ├── subproc_vec_env.py │ │ ├── test_vec_env.py │ │ ├── test_video_recorder.py │ │ ├── util.py │ │ ├── vec_env.py │ │ ├── vec_frame_stack.py │ │ ├── vec_monitor.py │ │ ├── vec_normalize.py │ │ ├── vec_remove_dict_obs.py │ │ └── vec_video_recorder.py │ └── wrappers.py ├── ddpg │ ├── README.md │ ├── __init__.py │ ├── ddpg.py │ ├── ddpg_learner.py │ ├── memory.py │ ├── models.py │ ├── noise.py │ └── test_smoke.py ├── deepq │ ├── README.md │ ├── __init__.py │ ├── build_graph.py │ ├── deepq.py │ ├── defaults.py │ ├── experiments │ │ ├── __init__.py │ │ ├── custom_cartpole.py │ │ ├── enjoy_cartpole.py │ │ ├── enjoy_mountaincar.py │ │ ├── enjoy_pong.py │ │ ├── train_cartpole.py │ │ ├── train_mountaincar.py │ │ └── train_pong.py │ ├── models.py │ ├── replay_buffer.py │ └── utils.py ├── gail │ ├── README.md │ ├── __init__.py │ ├── adversary.py │ ├── behavior_clone.py │ ├── dataset │ │ ├── __init__.py │ │ └── mujoco_dset.py │ ├── gail-eval.py │ ├── mlp_policy.py │ ├── result │ │ ├── HalfCheetah-normalized-deterministic-scores.png │ │ ├── HalfCheetah-normalized-stochastic-scores.png │ │ ├── HalfCheetah-unnormalized-deterministic-scores.png │ │ ├── HalfCheetah-unnormalized-stochastic-scores.png │ │ ├── Hopper-normalized-deterministic-scores.png │ │ ├── Hopper-normalized-stochastic-scores.png │ │ ├── Hopper-unnormalized-deterministic-scores.png │ │ ├── Hopper-unnormalized-stochastic-scores.png │ │ ├── Humanoid-normalized-deterministic-scores.png │ │ ├── Humanoid-normalized-stochastic-scores.png │ │ ├── Humanoid-unnormalized-deterministic-scores.png │ │ ├── Humanoid-unnormalized-stochastic-scores.png │ │ ├── HumanoidStandup-normalized-deterministic-scores.png │ │ ├── HumanoidStandup-normalized-stochastic-scores.png │ │ ├── HumanoidStandup-unnormalized-deterministic-scores.png │ │ ├── HumanoidStandup-unnormalized-stochastic-scores.png │ │ ├── Walker2d-normalized-deterministic-scores.png │ │ ├── Walker2d-normalized-stochastic-scores.png │ │ ├── Walker2d-unnormalized-deterministic-scores.png │ │ ├── Walker2d-unnormalized-stochastic-scores.png │ │ ├── gail-result.md │ │ ├── halfcheetah-training.png │ │ ├── hopper-training.png │ │ ├── humanoid-training.png │ │ ├── humanoidstandup-training.png │ │ └── walker2d-training.png │ ├── run_mujoco.py │ ├── statistics.py │ └── trpo_mpi.py ├── gym_save_video2local_class.py ├── her │ ├── README.md │ ├── __init__.py │ ├── actor_critic.py │ ├── ddpg.py │ ├── experiment │ │ ├── __init__.py │ │ ├── config.py │ │ ├── data_generation │ │ │ └── fetch_data_generation.py │ │ ├── play.py │ │ └── plot.py │ ├── her.py │ ├── her_sampler.py │ ├── normalizer.py │ ├── replay_buffer.py │ ├── rollout.py │ └── util.py ├── logger.py ├── plot_baselines.py ├── ppo1 │ ├── README.md │ ├── __init__.py │ ├── cnn_policy.py │ ├── mlp_policy.py │ ├── pposgd_simple.py │ ├── run_atari.py │ ├── run_humanoid.py │ ├── run_mujoco.py │ └── run_robotics.py ├── ppo2 │ ├── README.md │ ├── __init__.py │ ├── defaults.py │ ├── microbatched_model.py │ ├── model.py │ ├── ppo2.py │ ├── runner.py │ └── test_microbatches.py ├── rher │ ├── __init__.py │ ├── actor_critic.py │ ├── ddpg.py │ ├── experiment │ │ ├── __init__.py │ │ ├── config.py │ │ ├── data_generation │ │ │ └── fetch_data_generation.py │ │ ├── play.py │ │ └── plot.py │ ├── her_sampler.py │ ├── normalizer.py │ ├── plot_sort.py │ ├── replay_buffer.py │ ├── rher.py │ ├── rollout.py │ └── util.py ├── rher_reach │ ├── __init__.py │ ├── actor_critic.py │ ├── ddpg.py │ ├── experiment │ │ ├── __init__.py │ │ ├── config.py │ │ ├── data_generation │ │ │ └── fetch_data_generation.py │ │ ├── play.py │ │ └── plot.py │ ├── her_sampler.py │ ├── normalizer.py │ ├── plot_sort.py │ ├── replay_buffer.py │ ├── rher_reach.py │ ├── rollout.py │ └── util.py ├── run_bash_her.py ├── run_bash_rher.py ├── run_her_np1.py ├── run_rher_np1.py ├── run_rher_reach.py ├── run_rher_reach_np1.py └── trpo_mpi │ ├── README.md │ ├── __init__.py │ ├── defaults.py │ └── trpo_mpi.py ├── data └── fig_baseline │ └── single_process │ ├── base_her_rd03_long_np1_results │ ├── FetchPickAndPlace-v1 │ │ ├── FetchPickAndPlace-v1_s100 │ │ │ ├── log.txt │ │ │ ├── params.json │ │ │ └── progress.csv │ │ ├── FetchPickAndPlace-v1_s200 │ │ │ ├── log.txt │ │ │ ├── params.json │ │ │ └── progress.csv │ │ ├── FetchPickAndPlace-v1_s300 │ │ │ ├── log.txt │ │ │ ├── params.json │ │ │ └── progress.csv │ │ ├── FetchPickAndPlace-v1_s400 │ │ │ ├── log.txt │ │ │ ├── params.json │ │ │ └── progress.csv │ │ └── FetchPickAndPlace-v1_s500 │ │ │ ├── log.txt │ │ │ ├── params.json │ │ │ └── progress.csv │ └── FetchPush-v1 │ │ ├── FetchPush-v1_s100 │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv │ │ ├── FetchPush-v1_s200 │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv │ │ ├── FetchPush-v1_s300 │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv │ │ ├── FetchPush-v1_s400 │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv │ │ └── FetchPush-v1_s500 │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv │ └── rher_d003_rate244_np1_results │ ├── FetchPickAndPlace-v1 │ ├── FetchPickAndPlace-v1_s100 │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv │ ├── FetchPickAndPlace-v1_s200 │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv │ ├── FetchPickAndPlace-v1_s300 │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv │ ├── FetchPickAndPlace-v1_s400 │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv │ └── FetchPickAndPlace-v1_s500 │ │ ├── log.txt │ │ ├── params.json │ │ └── progress.csv │ └── FetchPush-v1 │ ├── FetchPush-v1_s100 │ ├── log.txt │ ├── params.json │ └── progress.csv │ ├── FetchPush-v1_s200 │ ├── log.txt │ ├── params.json │ └── progress.csv │ ├── FetchPush-v1_s300 │ ├── log.txt │ ├── params.json │ └── progress.csv │ ├── FetchPush-v1_s400 │ ├── log.txt │ ├── params.json │ └── progress.csv │ └── FetchPush-v1_s500 │ ├── log.txt │ ├── params.json │ └── progress.csv ├── 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_her_memory_torch.py ├── sp_memory.py ├── sp_memory_torch.py ├── sp_per_memory.py └── sp_per_memory_torch.py ├── plot_fig_baseline_d_mpi1_push.py ├── requirement.txt ├── run_her_drawer.sh ├── run_her_insert.sh ├── run_her_obstacle_push.sh ├── run_her_pick.sh ├── run_her_push.sh ├── run_rher_drawer.sh ├── run_rher_insert.sh ├── run_rher_obstacle_push.sh ├── run_rher_pick.sh ├── run_rher_push.sh └── spinup_utils ├── README.md ├── __init__.py ├── delete_no_checkpoint_or_pth.py ├── group_plot.py ├── log2table.py ├── logx.py ├── mpi_pytorch.py ├── mpi_tf.py ├── mpi_tools.py ├── plot.py ├── plot_2obj.py ├── plot_fig6_3other_tasks.py ├── plot_sort.py ├── plot_sort_1obj_reset.py ├── plot_sort_2obj.py ├── 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