├── .gitattributes ├── README.md ├── hw1 ├── README.txt ├── cs285 │ ├── agents │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── base_agent.cpython-37.pyc │ │ │ └── bc_agent.cpython-37.pyc │ │ └── bc_agent.py │ ├── expert_data │ │ ├── expert_data_Ant-v2.pkl │ │ ├── expert_data_HalfCheetah-v2.pkl │ │ ├── expert_data_Hopper-v2.pkl │ │ ├── expert_data_Humanoid-v2.pkl │ │ └── expert_data_Walker2d-v2.pkl │ ├── infrastructure │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── logger.cpython-37.pyc │ │ │ ├── replay_buffer.cpython-37.pyc │ │ │ ├── rl_trainer.cpython-37.pyc │ │ │ ├── tf_utils.cpython-37.pyc │ │ │ └── utils.cpython-37.pyc │ │ ├── logger.py │ │ ├── replay_buffer.py │ │ ├── rl_trainer.py │ │ └── utils.py │ ├── policies │ │ ├── MLP_policy.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── MLP_policy.cpython-37.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── base_policy.cpython-37.pyc │ │ │ └── loaded_gaussian_policy.cpython-37.pyc │ │ ├── experts │ │ │ ├── Ant.pkl │ │ │ ├── HalfCheetah.pkl │ │ │ ├── Hopper.pkl │ │ │ ├── Humanoid.pkl │ │ │ └── Walker2d.pkl │ │ └── loaded_gaussian_policy.py │ └── scripts │ │ └── run_hw1_behavior_cloning.py ├── cs285_hw1.pdf ├── downloads │ └── mjpro150 │ │ ├── bin │ │ ├── basic │ │ ├── compile │ │ ├── derivative │ │ ├── libglew.so │ │ ├── libglewegl.so │ │ ├── libglewosmesa.so │ │ ├── libglfw.so.3 │ │ ├── libmujoco150.so │ │ ├── libmujoco150nogl.so │ │ ├── record │ │ ├── simulate │ │ └── test │ │ ├── doc │ │ ├── README.txt │ │ └── REFERENCE.txt │ │ ├── include │ │ ├── glfw3.h │ │ ├── mjdata.h │ │ ├── mjmodel.h │ │ ├── mjrender.h │ │ ├── mjvisualize.h │ │ ├── mjxmacro.h │ │ └── mujoco.h │ │ ├── model │ │ ├── humanoid.xml │ │ └── humanoid100.xml │ │ └── sample │ │ ├── basic.cpp │ │ ├── compile.cpp │ │ ├── derivative.cpp │ │ ├── makefile │ │ ├── record.cpp │ │ ├── simulate.cpp │ │ └── test.cpp ├── requirements.txt └── setup.py ├── hw2 ├── README.txt ├── cs285 │ ├── agents │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── pg_agent.cpython-37.pyc │ │ └── pg_agent.py │ ├── infrastructure │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── logger.cpython-37.pyc │ │ │ ├── replay_buffer.cpython-37.pyc │ │ │ ├── rl_trainer.cpython-37.pyc │ │ │ └── utils.cpython-37.pyc │ │ ├── logger.py │ │ ├── replay_buffer.py │ │ ├── rl_trainer.py │ │ └── utils.py │ ├── policies │ │ ├── MLP_policy.py │ │ ├── __init__.py │ │ └── __pycache__ │ │ │ ├── MLP_policy.cpython-37.pyc │ │ │ └── __init__.cpython-37.pyc │ └── scripts │ │ └── run_hw2_policy_gradient.py ├── cs285_hw2.pdf ├── requirements.txt └── setup.py ├── hw3 ├── README.txt ├── cs285 │ ├── agents │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── ac_agent.cpython-37.pyc │ │ │ └── dqn_agent.cpython-37.pyc │ │ ├── ac_agent.py │ │ └── dqn_agent.py │ ├── critics │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── bootstrapped_continuous_critic.cpython-37.pyc │ │ │ └── dqn_critic.cpython-37.pyc │ │ ├── bootstrapped_continuous_critic.py │ │ └── dqn_critic.py │ ├── infrastructure │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── atari_wrappers.cpython-37.pyc │ │ │ ├── dqn_utils.cpython-37.pyc │ │ │ ├── logger.cpython-37.pyc │ │ │ ├── models.cpython-37.pyc │ │ │ ├── replay_buffer.cpython-37.pyc │ │ │ ├── rl_trainer.cpython-37.pyc │ │ │ └── utils.cpython-37.pyc │ │ ├── atari_wrappers.py │ │ ├── dqn_utils.py │ │ ├── logger.py │ │ ├── models.py │ │ ├── replay_buffer.py │ │ ├── rl_trainer.py │ │ └── utils.py │ ├── policies │ │ ├── MLP_policy.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── MLP_policy.cpython-37.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── argmax_policy.cpython-37.pyc │ │ └── argmax_policy.py │ └── scripts │ │ ├── run_hw3_actor_critic.py │ │ └── run_hw3_dqn.py ├── cs285_hw3.pdf ├── lunar_lander.py ├── requirements.txt └── setup.py ├── hw4 ├── README.txt ├── cs285 │ ├── agents │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── mb_agent.cpython-37.pyc │ │ └── mb_agent.py │ ├── envs │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-37.pyc │ │ ├── ant │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── ant.cpython-35.pyc │ │ │ │ └── ant.cpython-37.pyc │ │ │ └── ant.py │ │ ├── cheetah │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── cheetah.cpython-35.pyc │ │ │ │ └── cheetah.cpython-37.pyc │ │ │ └── cheetah.py │ │ ├── obstacles │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── obstacles_env.cpython-35.pyc │ │ │ │ └── obstacles_env.cpython-37.pyc │ │ │ └── obstacles_env.py │ │ └── reacher │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── reacher_env.cpython-35.pyc │ │ │ └── reacher_env.cpython-37.pyc │ │ │ ├── assets │ │ │ └── sawyer.xml │ │ │ └── reacher_env.py │ ├── infrastructure │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── logger.cpython-37.pyc │ │ │ ├── replay_buffer.cpython-37.pyc │ │ │ ├── rl_trainer.cpython-37.pyc │ │ │ └── utils.cpython-37.pyc │ │ ├── logger.py │ │ ├── replay_buffer.py │ │ ├── rl_trainer.py │ │ └── utils.py │ ├── models │ │ ├── __pycache__ │ │ │ └── ff_model.cpython-37.pyc │ │ └── ff_model.py │ ├── policies │ │ ├── MPC_policy.py │ │ ├── __init__.py │ │ └── __pycache__ │ │ │ ├── MPC_policy.cpython-37.pyc │ │ │ └── __init__.cpython-37.pyc │ └── scripts │ │ └── run_hw4_mb.py ├── cs285_hw4.pdf └── setup.py └── hw5 ├── README.txt ├── cs285 ├── agents │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── ac_agent.cpython-37.pyc │ └── ac_agent.py ├── critics │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── bootstrapped_continuous_critic.cpython-37.pyc │ └── bootstrapped_continuous_critic.py ├── envs │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── pointmass.cpython-37.pyc │ │ └── sparse_half_cheetah.cpython-37.pyc │ ├── pointmass.py │ └── sparse_half_cheetah.py ├── exploration │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── density_model.cpython-37.pyc │ │ └── exploration.cpython-37.pyc │ ├── density_model.py │ └── exploration.py ├── infrastructure │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── logger.cpython-37.pyc │ │ ├── replay.cpython-37.pyc │ │ ├── replay_buffer.cpython-37.pyc │ │ ├── rl_trainer.cpython-37.pyc │ │ └── utils.cpython-37.pyc │ ├── logger.py │ ├── replay_buffer.py │ ├── rl_trainer.py │ └── utils.py ├── policies │ ├── MLP_policy.py │ ├── __init__.py │ └── 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