├── .gitignore ├── G2P_mujoco_py ├── all_functions.py ├── main.py ├── models │ ├── nmi_leg.xml │ ├── nmi_leg_w_chassis_v0.xml │ └── nmi_leg_w_chassis_v1.xml └── results │ ├── Figure_3_withacc.png │ ├── Figure_3_withgradientbasedacc.png │ ├── Figure_3_withgradientbasedacc_w20minsbabbling.png │ ├── Figure_3_withoutacc.png │ ├── mlp_model.sav │ └── refine │ ├── no_ref.png │ └── one_ref.png ├── LICENSE ├── Matlab_code ├── Demo │ └── run_demo.m ├── README.txt ├── bin │ ├── R2_a_mse_of_golden_adapt_on_golden.m │ ├── R2_b_mse_of_golden_adapt_on_set1_test_on_set2.m │ ├── SR1_reinforcement_N_times_main.m │ ├── SR1_visualize_results.m │ ├── SR2a_main.m │ ├── SR2c_main.m │ ├── physical_R1.m │ ├── physical_R2a.m │ ├── physical_R2b.m │ ├── physical_R2b_new.m │ ├── physical_adaptation.m │ ├── physical_babbling.m │ ├── physical_babbling_generate_csv_list.m │ ├── physical_babbling_generate_csv_list2.m │ ├── physical_generate_babbling_csv.m │ ├── physical_visualize_results.m │ ├── save_csv.m │ ├── test_bypython.m │ └── train_on_babble.m ├── config │ └── .gitignore ├── generic_fcns │ ├── NN_model_re_fcn.m │ ├── angles2kinematics_fcn.m │ ├── animation_fcn.m │ ├── ddt.m │ ├── filter22.m │ ├── input_output_tendondriven_form_fcn.m │ └── systemID_input_gen_fcn.m ├── physical_system_fcns │ ├── bypython_reinforce_mode_based.m │ ├── create_pattern_fcn.m │ ├── physical_NN_model_re_fcn.m │ ├── physical_limit_cycle_gen_fcn.m │ ├── preprocess_and_cal_kinematics.m │ ├── preprocessing_fcn.m │ ├── run_plots_fcn.m │ ├── training_net_1_fcn.m │ └── training_net_2_fcn.m ├── results │ └── Aug31_100Hz_F15wmin_300seconds_systemID_tendondriven_babbling_model.mat └── simulation_fcns │ ├── NN_model_fcn.m │ ├── ali_events.m │ ├── babbling.m │ ├── babbling_fcn.m │ ├── caclulate_reward_fcn.m │ ├── cartesian_processing_fcn.m │ ├── dbpend_energy.m │ ├── dbpend_rhs.m │ ├── dbpend_rhs_mapping.m │ ├── dopenn_init_fcn.m │ ├── dopenn_plots_fcn.m │ ├── force2torque_fcn.m │ ├── generate_new_action_fcn.m │ ├── goal_loop_new.m │ ├── limit_cycle_gen_fcn.m │ ├── limit_in_range_fcn.m │ ├── reinforce_everlearn_cumulative_fcn.m │ ├── reinforce_every_fcn.m │ ├── reinforce_fcn.m │ ├── run_simulation_get_reward_fcn.m │ ├── simulation_ref.txt │ ├── systemID_input_gen_fcn.m │ ├── vis_average_score_fcn.m │ ├── vis_reward_vs_rep_fcn.m │ └── vis_try_and_reward_distributions_fcn.m ├── README.txt ├── docs └── src │ └── .gitignore ├── output └── babble_aug22_18h17_10v_air_response.csv └── pyproctor ├── README.md ├── air_adaptation.py ├── air_repeated_trajectory.py ├── generic_functions.py ├── global_variables.py ├── interactive.py ├── just_babble.py ├── log_extractor.py ├── matlab_connector.py ├── mini_reinforce.py ├── proctor.py ├── random_actions.py ├── reinforce.py ├── reinforce_fcn.py ├── replicability_reward.py └── test_proctor.py /.gitignore: -------------------------------------------------------------------------------- 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