├── .gitignore ├── MUJOCO_LOG.TXT ├── README.md ├── main.py ├── model.py ├── results ├── .DS_Store ├── Adaptive-vs-Direct │ ├── Reacher-v1-adaptive-0.000000-100.000000 │ ├── Reacher-v1-adaptive-0.000000-20.000000 │ ├── Reacher-v1-adaptive-0.000000-500.000000 │ ├── linear_kl.py │ ├── linear_steps.py │ ├── reacher_linear_kl.jpg │ ├── reacher_linear_steps.jpg │ └── status.md ├── montecarlo-test │ ├── 1000 │ ├── 5000 │ ├── 10000 │ ├── 20000 │ ├── .DS_Store │ ├── 1000-short │ ├── 10xKL │ ├── all.png │ ├── new_vs_old.png │ ├── plots_mc_episodes.py │ ├── plots_mc_kl.py │ ├── plots_mc_stepcount.py │ ├── plots_mc_walltime.py │ ├── steps-reward-long.png │ ├── steps-reward.png │ ├── time-reward.png │ └── updates-reward.png ├── new_vs_old │ ├── HalfCheetah-averaging │ ├── HalfCheetah-averagingLONG │ ├── HalfCheetah-newmethod │ ├── HalfCheetah-oldmethod │ ├── HalfCheetah-sameincrease │ └── plots_new_v_old.py ├── speedup │ ├── README.md │ ├── Reacher-v1-1 │ ├── Reacher-v1-2 │ ├── Reacher-v1-3 │ ├── Reacher-v1-4 │ ├── Reacher-v1-5 │ ├── Reacher-v1-6 │ ├── Reacher-v1-7 │ ├── Reacher-v1-8 │ ├── threads_iterspeed.png │ └── threads_return_time.png ├── try1 │ ├── HalfCheetah-v1-1 │ ├── HalfCheetah-v1-5 │ ├── HalfCheetah.png │ ├── Hopper-v1-1 │ ├── Hopper-v1-5 │ ├── Hopper.png │ ├── Reacher-v1-1 │ ├── Reacher-v1-5 │ ├── Reacher.png │ ├── Swimmer-v1-1 │ ├── Swimmer-v1-5 │ ├── Swimmer.png │ ├── plots.py │ ├── plots_step_reward.py │ ├── plots_step_reward_multi.py │ ├── plots_threads_iterspeed.py │ └── plots_threads_return_time.py ├── try2 │ ├── Hopper-v1-1 │ ├── Hopper-v1-5 │ ├── Swimmer-v1-1 │ └── Swimmer-v1-5 └── vs_fixed │ ├── halfcheetah │ ├── HalfCheetah-v1-adaptive-1000.000000-0.001000-300.000000-0.000000 │ ├── HalfCheetah-v1-adaptive-1000.000000-0.001000-300.000000-0.000500 │ ├── HalfCheetah-v1-adaptive-20000.000000-0.001000-0.000000-0.000500 │ ├── HalfCheetah-v1-adaptive-margin-1000.000000-0.001000-300.000000-0.000500 │ ├── HalfCheetah-v1-none-10000.000000-0.001000-0.000000-0.000000 │ ├── HalfCheetah-v1-none-1500.000000-0.001000-0.000000-0.000000 │ ├── HalfCheetah-v1-none-20000.000000-0.001000-0.000000-0.000000 │ ├── HalfCheetah-v1-none-20000.000000-0.005000-0.000000-0.000000 │ ├── HalfCheetah-v1-none-20000.000000-0.010000-0.000000-0.000000 │ ├── HalfCheetah-v1-none-5000.000000-0.001000-0.000000-0.000000 │ ├── compare-nomargin.png │ ├── compare-nomargin.py │ ├── compare.png │ ├── compare.py │ ├── fixed_kl.png │ ├── fixed_kl.py │ ├── fixed_steps.png │ └── fixed_steps.py │ ├── halfcheetah2 │ ├── HalfCheetah-v1-adaptive-1000.000000-0.001000-300.000000-0.000000 │ ├── HalfCheetah-v1-adaptive-1000.000000-0.001000-300.000000-0.000500 │ ├── HalfCheetah-v1-adaptive-20000.000000-0.001000-0.000000-0.000500 │ ├── HalfCheetah-v1-adaptive-margin-1000.000000-0.001000-300.000000-0.000500 │ ├── HalfCheetah-v1-none-10000.000000-0.001000-0.000000-0.000000 │ ├── HalfCheetah-v1-none-1500.000000-0.001000-0.000000-0.000000 │ ├── HalfCheetah-v1-none-20000.000000-0.001000-0.000000-0.000000 │ ├── HalfCheetah-v1-none-20000.000000-0.005000-0.000000-0.000000 │ ├── HalfCheetah-v1-none-20000.000000-0.010000-0.000000-0.000000 │ ├── HalfCheetah-v1-none-5000.000000-0.001000-0.000000-0.000000 │ ├── compare-nomargin.png │ ├── compare.png │ └── compare.py │ ├── reacher │ ├── Reacher-v1-adaptive-1000.000000-0.001000-300.000000-0.000000 │ ├── Reacher-v1-adaptive-1000.000000-0.001000-300.000000-0.000500 │ ├── Reacher-v1-adaptive-20000.000000-0.001000-0.000000-0.000500 │ ├── Reacher-v1-adaptive-margin-1000.000000-0.001000-300.000000-0.000500 │ ├── Reacher-v1-none-10000.000000-0.001000-0.000000-0.000000 │ ├── Reacher-v1-none-1500.000000-0.001000-0.000000-0.000000 │ ├── Reacher-v1-none-20000.000000-0.001000-0.000000-0.000000 │ ├── Reacher-v1-none-20000.000000-0.005000-0.000000-0.000000 │ ├── Reacher-v1-none-20000.000000-0.010000-0.000000-0.000000 │ ├── Reacher-v1-none-5000.000000-0.001000-0.000000-0.000000 │ ├── compare-nomargin.png │ ├── compare-nomargin.py │ ├── compare.png │ ├── compare.py │ ├── fixed_kl.png │ ├── fixed_kl.py │ ├── fixed_steps.png │ └── fixed_steps.py │ ├── reacher2 │ ├── Reacher-v1-adaptive-1000.000000-0.001000-300.000000-0.000000 │ ├── Reacher-v1-adaptive-1000.000000-0.001000-300.000000-0.000500 │ ├── Reacher-v1-adaptive-20000.000000-0.001000-0.000000-0.000500 │ ├── Reacher-v1-adaptive-margin-1000.000000-0.001000-300.000000-0.000500 │ ├── Reacher-v1-none-10000.000000-0.001000-0.000000-0.000000 │ ├── Reacher-v1-none-1500.000000-0.001000-0.000000-0.000000 │ ├── Reacher-v1-none-20000.000000-0.001000-0.000000-0.000000 │ ├── Reacher-v1-none-20000.000000-0.005000-0.000000-0.000000 │ ├── Reacher-v1-none-20000.000000-0.010000-0.000000-0.000000 │ ├── Reacher-v1-none-5000.000000-0.001000-0.000000-0.000000 │ ├── compare-nomargin.png │ ├── compare.png │ ├── compare.py │ ├── copy-Reacher-v1-adaptive-1000.000000-0.001000-300.000000-0.000000 │ └── params.py │ ├── swimmer │ ├── Swimmer-v1-adaptive-1000.000000-0.001000-300.000000-0.000000 │ ├── Swimmer-v1-adaptive-1000.000000-0.001000-300.000000-0.000500 │ ├── Swimmer-v1-adaptive-20000.000000-0.001000-0.000000-0.000500 │ ├── Swimmer-v1-adaptive-margin-1000.000000-0.001000-300.000000-0.000500 │ ├── Swimmer-v1-none-10000.000000-0.001000-0.000000-0.000000 │ ├── Swimmer-v1-none-1500.000000-0.001000-0.000000-0.000000 │ ├── Swimmer-v1-none-20000.000000-0.001000-0.000000-0.000000 │ ├── Swimmer-v1-none-20000.000000-0.005000-0.000000-0.000000 │ ├── Swimmer-v1-none-20000.000000-0.010000-0.000000-0.000000 │ ├── Swimmer-v1-none-5000.000000-0.001000-0.000000-0.000000 │ ├── compare-nomargin.png │ ├── compare-nomargin.py │ ├── compare.png │ ├── compare.py │ ├── fixed_kl.png │ ├── fixed_kl.py │ ├── fixed_steps.png │ ├── fixed_steps.py │ └── params.py │ └── swimmer2 │ ├── Swimmer-v1-adaptive-1000.000000-0.001000-300.000000-0.000000 │ ├── Swimmer-v1-adaptive-1000.000000-0.001000-300.000000-0.000500 │ ├── Swimmer-v1-adaptive-20000.000000-0.001000-0.000000-0.000500 │ ├── Swimmer-v1-adaptive-margin-1000.000000-0.001000-300.000000-0.000500 │ ├── Swimmer-v1-none-10000.000000-0.001000-0.000000-0.000000 │ ├── Swimmer-v1-none-1500.000000-0.001000-0.000000-0.000000 │ ├── Swimmer-v1-none-20000.000000-0.001000-0.000000-0.000000 │ ├── Swimmer-v1-none-20000.000000-0.005000-0.000000-0.000000 │ ├── Swimmer-v1-none-20000.000000-0.010000-0.000000-0.000000 │ ├── Swimmer-v1-none-5000.000000-0.001000-0.000000-0.000000 │ ├── compare-nomargin.png │ ├── compare.png │ └── compare.py ├── rollouts.py ├── texput.log ├── too-long-trials ├── BipedalWalker-v2-adaptive-10000.000000-0.001000-300.000000-0.000500 ├── BipedalWalker-v2-adaptive-margin-10000.000000-0.001000-300.000000-0.000500 ├── BipedalWalker-v2-none-10000.000000-0.001000-0.000000-0.000000 ├── HalfCheetah-v1-adaptive-margin-1000.000000-0.001000-300.000000-0.000500 ├── Humanoid-v1-none-10000.000000-0.001000-0.000000-0.000000 ├── 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