├── .gitignore ├── LICENSE ├── README.md ├── cid ├── __init__.py ├── algorithms │ ├── __init__.py │ ├── base.py │ ├── ddpg_agent.py │ ├── goal_based.py │ ├── normalizer.py │ └── random_agent.py ├── envs │ ├── __init__.py │ ├── factorization.py │ ├── one_d_slide.py │ └── robotics │ │ ├── __init__.py │ │ ├── assets │ │ ├── fetch │ │ │ ├── pick_and_place_contact_detection.xml │ │ │ ├── pick_and_place_rot_table.xml │ │ │ ├── pick_and_place_rot_table_flex.xml │ │ │ ├── robot.xml │ │ │ ├── shared.xml │ │ │ ├── shared_rot_table.xml │ │ │ └── shared_rot_table_flex.xml │ │ ├── stls │ │ │ ├── fetch │ │ │ │ ├── base_link_collision.stl │ │ │ │ ├── bellows_link_collision.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 │ │ │ │ ├── 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 │ │ ├── contact_detection_wrapper.py │ │ ├── fetch_contact_detection.py │ │ ├── fetch_control_detection.py │ │ ├── fetch_info_wrapper.py │ │ └── pick_and_place_rot_table.py ├── influence_estimation │ ├── __init__.py │ ├── datasets.py │ ├── eval_influence.py │ ├── kl_torch.py │ ├── losses.py │ ├── model_trainers.py │ ├── schedules.py │ ├── train_model.py │ ├── transition_scorers.py │ └── utils.py ├── memory │ ├── __init__.py │ ├── base.py │ ├── buffer.py │ ├── ebp.py │ ├── episodic.py │ ├── her.py │ ├── mbp.py │ ├── modify_buffers.py │ ├── per.py │ └── score_based.py ├── models │ ├── __init__.py │ ├── bnn.py │ ├── ensemble.py │ ├── layers.py │ ├── mlp.py │ ├── transformer.py │ └── utils.py ├── play.py ├── rollouts │ ├── __init__.py │ ├── base.py │ ├── parallel_rollout_gen.py │ └── rollout_gens.py ├── train.py └── utils │ ├── __init__.py │ ├── gin_torch_externals.py │ └── logger.py ├── data └── README.md ├── experiments ├── 1-influence │ ├── Makefile │ ├── onedslide_model_gaussian.gin │ ├── onedslide_transformer.gin │ ├── pickandplace_cmi.py │ ├── pickandplace_model_gaussian.gin │ ├── pickandplace_model_gaussian_noisy.gin │ ├── pickandplace_transformer.gin │ └── pickandplace_transformer_noisy.gin ├── 2-prioritization │ ├── pickandplace_cai_prio.gin │ ├── pickandplace_ebp.gin │ ├── pickandplace_her_per.gin │ ├── push_cai_prio.gin │ ├── push_ebp.gin │ ├── push_her_per.gin │ ├── rot_table_harder_cai_prio.gin │ ├── rot_table_harder_ebp.gin │ └── rot_table_harder_her_per.gin ├── 3-exploration │ ├── pickandplace_cai_active+bonus.gin │ ├── pickandplace_cai_active.gin │ ├── pickandplace_cai_bonus.gin │ ├── pickandplace_cai_intrinsic.gin │ ├── pickandplace_ens_disagreement_bonus_full_direct_bonus.gin │ ├── pickandplace_ens_disagreement_bonus_obj_recomp_bonus.gin │ ├── pickandplace_vime_bonus_full.gin │ ├── pickandplace_vime_bonus_obj.gin │ └── pickandplace_vime_bonus_pos.gin └── 4-other │ ├── pickandplace_cai_all.gin │ ├── pickandplace_cai_prio_act_expl.gin │ ├── pickandplace_cai_prio_bonus.gin │ ├── pickandplace_her.gin │ ├── push_her.gin │ └── rot_table_harder_her.gin ├── make_conda_env.sh ├── orig_environment.yml ├── setup.py └── test_settings.sh /.gitignore: -------------------------------------------------------------------------------- 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