├── .gitignore ├── README.md ├── adr.gif ├── common ├── __init__.py ├── agents │ ├── __init__.py │ ├── ddpg │ │ ├── __init__.py │ │ ├── ddpg.py │ │ └── replay_buffer.py │ ├── ddpg_actor.py │ └── svpg_simulator_agent.py ├── discriminator │ └── discriminator_rewarder.py ├── envs │ ├── __init__.py │ ├── assets │ │ ├── LICENSE.md │ │ ├── __init__.py │ │ ├── fetch │ │ │ ├── reach.xml │ │ │ ├── robot.xml │ │ │ └── shared.xml │ │ ├── pusher_3dof.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 │ ├── config │ │ ├── ErgoReacherRandomized │ │ │ ├── default-4dof.json │ │ │ ├── default-6dof.json │ │ │ ├── easy-4dof.json │ │ │ ├── fulldr-4dof.json │ │ │ ├── fulldr-6dof.json │ │ │ └── hard-4dof.json │ │ ├── ErgoReacherRandomizedBacklash │ │ │ ├── default-4dof.json │ │ │ ├── fulldr-4dof.json │ │ │ ├── fulldr-easy.json │ │ │ └── fulldr-hard.json │ │ ├── HalfCheetahRandomized │ │ │ └── default.json │ │ ├── HumanoidRandomized │ │ │ └── default.json │ │ ├── LunarLanderRandomized │ │ │ ├── 10.json │ │ │ ├── 16.json │ │ │ ├── debug.json │ │ │ ├── default.json │ │ │ ├── random2D_820.json │ │ │ ├── random_1720.json │ │ │ ├── random_620.json │ │ │ ├── random_811.json │ │ │ ├── random_812.json │ │ │ ├── random_813.json │ │ │ └── random_820.json │ │ ├── Pusher3DOFGeneralization │ │ │ ├── 00.json │ │ │ ├── 01.json │ │ │ ├── 02.json │ │ │ ├── 10.json │ │ │ ├── 11.json │ │ │ ├── 12.json │ │ │ ├── 20.json │ │ │ ├── 21.json │ │ │ └── 22.json │ │ ├── Pusher3DOFRandomized │ │ │ ├── default.json │ │ │ ├── fulldr-easy.json │ │ │ ├── fulldr-toohard.json │ │ │ ├── fulldr.json │ │ │ └── hard.json │ │ └── __init__.py │ ├── dimension.py │ ├── ergoreacher.py │ ├── ergoreacherbacklash.py │ ├── fetch.py │ ├── half_cheetah.py │ ├── humanoid.py │ ├── lunar_lander.py │ ├── pusher.py │ ├── pusher3dof.py │ ├── randomized_locomotion.py │ ├── randomized_vecenv.py │ └── wrappers.py ├── models │ ├── __init__.py │ ├── actor_critic.py │ └── discriminator.py ├── svpg │ ├── __init__.py │ ├── particles │ │ ├── __init__.py │ │ ├── distributions.py │ │ ├── svpg_particle.py │ │ └── utils.py │ ├── svpg.py │ └── svpg_utils.py └── utils │ ├── __init__.py │ ├── logging.py │ ├── plot_utils.py │ ├── policy_evaluator.py │ ├── recorder.py │ ├── rollout_evaluation.py │ ├── sim_agent_helper.py │ └── visualization.py ├── experiments ├── __init__.py └── domainrand │ ├── __init__.py │ ├── args.py │ ├── batch_reward_analysis.py │ ├── experiment_driver.py │ └── pusher_grid_generalization.py ├── real_robot.py ├── real_robot_torquesweep.py ├── scripts ├── README.md ├── docopts ├── docopts.sh ├── envs │ ├── bluewire │ │ └── manfred.sh │ ├── slurm │ │ ├── bhairav.sh │ │ └── manfred.sh │ └── uberduck │ │ └── bhairav.sh ├── experiments │ ├── lunar_lander.sh │ └── pusher_3dof.sh ├── launch.py ├── real-robot-read-dataset.py └── run.sh ├── setup.py ├── slurm.sh └── tests ├── 00-test-vecenv.py ├── 01-test-svpg-vectorized.py ├── 02-test-svpg-policy-rollout-vectorized.py ├── 03-test-vanilla-fetchreach.py ├── 04-test-randomized-mujoco-api.py ├── 05-test-randomized-mujoco-viz.py ├── 06-test-randomized-ergoreach.py ├── 07-test-mujoco-3dof-keyboard-control.py ├── 08-test-mujoco-4dof-keyboard-control.py ├── 09-test-mujoco-3dof-auto.py ├── 10-test-mujoco-3dof-ranges.py ├── 11-test-randomized-ergoreach-halfdisk.py ├── 12-test-randomized-ergoreach-backlash-halfdisk.py 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