├── .gitignore ├── README.md ├── code.md ├── docs ├── dance.gif ├── dance.mov ├── spinkick.gif ├── spinkick.mov ├── standup.gif ├── standup.mov ├── walk.gif └── walk.mov └── src ├── VideoSaver.py ├── adversary.py ├── args ├── kin_char_args.txt ├── run_humanoid3d_backflip_args.txt ├── run_humanoid3d_cartwheel_args.txt ├── run_humanoid3d_crawl_args.txt ├── run_humanoid3d_dance_a_args.txt ├── run_humanoid3d_dance_b_args.txt ├── run_humanoid3d_getup_facedown_args.txt ├── run_humanoid3d_getup_faceup_args.txt ├── run_humanoid3d_jump_args.txt ├── run_humanoid3d_kick_args.txt ├── run_humanoid3d_punch_args.txt ├── run_humanoid3d_roll_args.txt ├── run_humanoid3d_run_args.txt ├── run_humanoid3d_spin_args.txt ├── run_humanoid3d_spinkick_args.txt ├── run_humanoid3d_walk_args.txt ├── train_humanoid3d_backflip_args.txt ├── train_humanoid3d_cartwheel_args.txt ├── train_humanoid3d_crawl_args.txt ├── train_humanoid3d_dance_a_args.txt ├── train_humanoid3d_dance_b_args.txt ├── train_humanoid3d_getup_facedown_args.txt ├── train_humanoid3d_getup_faceup_args.txt ├── train_humanoid3d_jump_args.txt ├── train_humanoid3d_kick_args.txt ├── train_humanoid3d_punch_args.txt ├── train_humanoid3d_roll_args.txt ├── train_humanoid3d_run_args.txt ├── train_humanoid3d_spin_args.txt ├── train_humanoid3d_spinkick_args.txt └── train_humanoid3d_walk_args.txt ├── bench ├── __init__.py ├── benchmarks.py └── monitor.py ├── cg.py ├── checkpoint_tmp └── DeepMimic │ └── trpo-walk-0 │ └── DeepMimic │ ├── checkpoint │ ├── trpo-walk-0.data-00000-of-00001 │ ├── trpo-walk-0.index │ └── trpo-walk-0.meta ├── config.py ├── data ├── agents │ └── ct_agent_humanoid_ppo.txt ├── characters │ └── humanoid3d.txt ├── controllers │ └── humanoid3d_ctrl.txt ├── motions │ ├── humanoid3d_backflip.txt │ ├── humanoid3d_cartwheel.txt │ ├── humanoid3d_crawl.txt │ ├── humanoid3d_dance_a.txt │ ├── humanoid3d_dance_b.txt │ ├── humanoid3d_getup_facedown.txt │ ├── humanoid3d_getup_faceup.txt │ ├── humanoid3d_jump.txt │ ├── humanoid3d_kick.txt │ ├── humanoid3d_punch.txt │ ├── humanoid3d_roll.txt │ ├── humanoid3d_run.txt │ ├── humanoid3d_spin.txt │ ├── humanoid3d_spinkick.txt │ └── humanoid3d_walk.txt ├── shaders │ ├── Depth_PS.glsl │ ├── DownSample_PS.glsl │ ├── FullScreenQuad_VS.glsl │ ├── Lighting_Lambert_PS.glsl │ ├── Mesh_VS.glsl │ └── VertColor_PS.glsl ├── terrain │ └── plane.txt └── textures │ └── grid0.png ├── dataset.py ├── distributions.py ├── dp_env ├── README.md ├── dp_env │ ├── __init__.py │ ├── dp_env.py │ └── dp_extrahard_env.py └── setup.py ├── dp_env_test.py ├── dp_env_v1.py ├── dp_env_v2.py ├── dp_env_v3.py ├── dp_policy_testing ├── GetAction.py ├── args │ ├── kin_char_args.txt │ ├── run_humanoid3d_backflip_args.txt │ ├── run_humanoid3d_cartwheel_args.txt │ ├── run_humanoid3d_crawl_args.txt │ ├── run_humanoid3d_dance_a_args.txt │ ├── run_humanoid3d_dance_b_args.txt │ ├── run_humanoid3d_getup_facedown_args.txt │ ├── run_humanoid3d_getup_faceup_args.txt │ ├── run_humanoid3d_jump_args.txt │ ├── run_humanoid3d_kick_args.txt │ ├── run_humanoid3d_punch_args.txt │ ├── run_humanoid3d_roll_args.txt │ ├── run_humanoid3d_run_args.txt │ ├── run_humanoid3d_spin_args.txt │ ├── run_humanoid3d_spinkick_args.txt │ ├── run_humanoid3d_walk_args.txt │ ├── train_humanoid3d_backflip_args.txt │ ├── train_humanoid3d_cartwheel_args.txt │ ├── train_humanoid3d_crawl_args.txt │ ├── train_humanoid3d_dance_a_args.txt │ ├── train_humanoid3d_dance_b_args.txt │ ├── train_humanoid3d_getup_facedown_args.txt │ ├── train_humanoid3d_getup_faceup_args.txt │ ├── train_humanoid3d_jump_args.txt │ ├── train_humanoid3d_kick_args.txt │ ├── train_humanoid3d_punch_args.txt │ ├── train_humanoid3d_roll_args.txt │ ├── train_humanoid3d_run_args.txt │ ├── train_humanoid3d_spin_args.txt │ ├── train_humanoid3d_spinkick_args.txt │ └── train_humanoid3d_walk_args.txt ├── data │ ├── agents │ │ └── ct_agent_humanoid_ppo.txt │ ├── characters │ │ └── humanoid3d.txt │ ├── controllers │ │ └── humanoid3d_ctrl.txt │ ├── motions │ │ ├── humanoid3d_backflip.txt │ │ ├── humanoid3d_cartwheel.txt │ │ ├── humanoid3d_crawl.txt │ │ ├── humanoid3d_dance_a.txt │ │ ├── humanoid3d_dance_b.txt │ │ ├── humanoid3d_getup_facedown.txt │ │ ├── humanoid3d_getup_faceup.txt │ │ ├── humanoid3d_jump.txt │ │ ├── humanoid3d_kick.txt │ │ ├── humanoid3d_punch.txt │ │ ├── humanoid3d_roll.txt │ │ ├── humanoid3d_run.txt │ │ ├── humanoid3d_spin.txt │ │ ├── humanoid3d_spinkick.txt │ │ └── humanoid3d_walk.txt │ └── policies │ │ └── humanoid3d │ │ ├── humanoid3d_backflip.ckpt.data-00000-of-00001 │ │ ├── humanoid3d_backflip.ckpt.index │ │ ├── humanoid3d_walk.ckpt.data-00000-of-00001 │ │ └── humanoid3d_walk.ckpt.index ├── env │ ├── __init__.py │ ├── action_space.py │ ├── deepmimic_env.py │ └── env.py ├── learning │ ├── __init__.py │ ├── agent_builder.py │ ├── exp_params.py │ ├── nets │ │ ├── __init__.py │ │ ├── fc_2layers_1024units.py │ │ └── net_builder.py │ ├── normalizer.py │ ├── path.py │ ├── pg_agent.py │ ├── ppo_agent.py │ ├── replay_buffer.py │ ├── rl_agent.py │ ├── rl_util.py │ ├── rl_world.py │ ├── solvers │ │ ├── mpi_solver.py │ │ └── solver.py │ ├── tf_agent.py │ ├── tf_normalizer.py │ └── tf_util.py └── util │ ├── __init__.py │ ├── arg_parser.py │ ├── logger.py │ ├── math_util.py │ ├── mpi_util.py │ └── util.py ├── env ├── __init__.py ├── action_space.py ├── deepmimic_env.py ├── deepmimic_env_mujoco.py ├── env.py ├── humanoid3d_backflip.txt ├── humanoid3d_env.py └── setting_states.py ├── env_torque_test.py ├── figures └── DeepMimic-reward.svg ├── gail.py ├── log_tmp └── DeepMimic │ └── trpo-walk-0 │ ├── log.txt │ ├── monitor.json.monitor.csv │ └── progress.csv ├── logger.py ├── mlp_policy_trpo.py ├── mpi_adam.py ├── mujoco ├── README.md ├── __init__.py ├── humanoid_deepmimic │ ├── README.md │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── asset │ │ │ ├── dp_env.xml │ │ │ ├── dp_env_v1.xml │ │ │ ├── dp_env_v2.xml │ │ │ ├── dp_env_v3.xml │ │ │ ├── humanoid.xml │ │ │ ├── humanoid3d.txt │ │ │ └── humanoid_deepmimic.xml │ │ ├── humanoid_deepmimic_env.py │ │ └── humanoid_deepmimic_extrahard_env.py │ └── setup.py ├── mocap_util.py ├── mocap_v1.py ├── mocap_v2.py ├── motions │ ├── humanoid3d_backflip.txt │ ├── humanoid3d_cartwheel.txt │ ├── humanoid3d_crawl.txt │ ├── humanoid3d_dance_a.txt │ ├── humanoid3d_dance_b.txt │ ├── humanoid3d_getup_facedown.txt │ ├── humanoid3d_getup_faceup.txt │ ├── humanoid3d_jump.txt │ ├── humanoid3d_kick.txt │ ├── humanoid3d_punch.txt │ ├── humanoid3d_roll.txt │ ├── humanoid3d_run.txt │ ├── humanoid3d_spin.txt │ ├── humanoid3d_spinkick.txt │ └── humanoid3d_walk.txt ├── mujoco_env.py ├── mujoco_interface.py └── setting_states.py ├── mujoco_env_test ├── control_test.py └── dp_env_v3_test.xml ├── play_mocap.py ├── plot_curve.py ├── plot_util.py ├── statistics.py ├── train_mpi.sh ├── transformations.py ├── trpo.py └── utils ├── __init__.py ├── console_util.py ├── dataset.py ├── fc_util.py ├── input_util.py ├── math_util.py ├── 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