├── .gitignore ├── .hgignore ├── Doxyfile ├── LICENSE ├── README.md ├── cartpole_experiments.sh ├── double_cartpole_experiments.sh ├── eval_cartpole.sh ├── examples ├── PILCO │ ├── __init__.py │ ├── cartpole_learn.py │ ├── cartpole_learn_serial.py │ ├── double_cartpole_learn.py │ └── pendulum_learn.py ├── __init__.py ├── cartpole_learn.ipynb ├── data │ └── serial_plant_policy.zip ├── notebooks │ ├── 2d_state_space_plots.ipynb │ ├── arduino_cartpole_environment.ipynb │ ├── cartpole_learn.ipynb │ ├── evaluate_policy-Copy1.ipynb │ ├── evaluate_policy-Copy2.ipynb │ ├── evaluate_policy.ipynb │ ├── gradient_clipping_plot.ipynb │ ├── gym_learn.ipynb │ ├── kl_loss │ │ ├── imitation_based_sim2real_cartpole.ipynb │ │ └── task_cost_plus_kl_reg.ipynb │ ├── mc_pilco.ipynb │ ├── plotting_test.ipynb │ └── torch_experiments.ipynb ├── run_learning_algorithm.py └── transfer │ └── cartpole_adjust.py ├── kusanagi ├── __init__.py ├── base │ ├── ExperienceDataset.py │ ├── Loadable.py │ ├── __init__.py │ └── base_.py ├── diagnosis_tools │ ├── __init__.py │ ├── check_init_exp_aqua.py │ ├── plot_learner_profile.m │ ├── profile_learner_log.py │ └── profile_learner_logs.sh ├── ghost │ ├── __init__.py │ ├── algorithms │ │ ├── __init__.py │ │ ├── mc_pilco.py │ │ ├── pddp.py │ │ └── pilco.py │ ├── control │ │ ├── NNPolicy.py │ │ ├── __init__.py │ │ ├── control_.py │ │ └── saturation.py │ ├── optimizers │ │ ├── __init__.py │ │ ├── scipy_optimizer.py │ │ └── sgd_optimizer.py │ ├── regression │ │ ├── BaseRegressor.py │ │ ├── GP.py │ │ ├── NN.py │ │ ├── SNRpenalty.py │ │ ├── SPGP.py │ │ ├── SSGP.py │ │ ├── __init__.py │ │ ├── cov.py │ │ ├── layers.py │ │ ├── nonlinearities.py │ │ └── objectives.py │ └── transfer │ │ ├── __init__.py │ │ ├── kl_matching.py │ │ └── trajectory_matching.py ├── server.py ├── shell │ ├── __init__.py │ ├── arduino │ │ ├── __init__.py │ │ ├── arduino.py │ │ └── cartpole │ │ │ └── cartpole.ino │ ├── cartpole.py │ ├── cost.py │ ├── double_cartpole.py │ ├── double_integrator.py │ ├── evaluate_policy.py │ ├── experiment_utils.py │ ├── pendulum.py │ └── plant.py └── utils │ ├── __init__.py │ ├── distributions.py │ ├── extra_ops.py │ ├── probls.py │ ├── updates.py │ └── utils_.py ├── setup.py └── test ├── __init__.py ├── matlab_test.m ├── testGPRegressor.py ├── testNNRegression.py └── test_serial_plant.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mcgillmrl/kusanagi/HEAD/.gitignore -------------------------------------------------------------------------------- /.hgignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mcgillmrl/kusanagi/HEAD/.hgignore -------------------------------------------------------------------------------- /Doxyfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mcgillmrl/kusanagi/HEAD/Doxyfile 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