├── README.md ├── docs ├── .DS_Store ├── index.html └── resources │ ├── .DS_Store │ ├── clvr_icon.png │ ├── env_fig.png │ ├── maze_qual.png │ ├── model.png │ ├── policy_videos │ ├── mtrl_task1_epi0.mp4 │ ├── mtrl_task1_epi150.mp4 │ ├── mtrl_task1_epi20.mp4 │ ├── pearl_task1_epi0.mp4 │ ├── pearl_task1_epi150.mp4 │ ├── pearl_task1_epi20.mp4 │ ├── simpl_task1_epi0.mp4 │ ├── simpl_task1_epi150.mp4 │ ├── simpl_task1_epi20.mp4 │ ├── spirl_task1_epi0.mp4 │ ├── spirl_task1_epi150.mp4 │ └── spirl_task1_epi20.mp4 │ ├── quant_results.png │ └── teaser.png ├── reproduce ├── kitchen │ ├── kitchen_vis.py │ ├── simpl_fine_tune.py │ ├── simpl_meta_train.py │ └── spirl_fine_tune.py ├── maze │ ├── maze_vis.py │ ├── simpl_fine_tune.py │ ├── simpl_meta_train_20t.py │ ├── simpl_meta_train_40t.py │ └── spirl_fine_tune.py ├── simpl_fine_tune.py ├── simpl_meta_train.py └── spirl_fine_tune.py ├── requirements.txt ├── setup.py └── simpl ├── __init__.py ├── alg ├── pearl │ ├── __init__.py │ └── encoder.py ├── simpl │ ├── __init__.py │ ├── collector.py │ ├── condition.py │ ├── policy.py │ └── simpl.py └── spirl │ ├── __init__.py │ ├── constrained_sac.py │ ├── prior_policy.py │ └── spirl_policy.py ├── collector ├── __init__.py ├── collector.py ├── concurrent.py ├── hierarchical.py └── storage.py ├── env ├── kitchen │ ├── __init__.py │ ├── asset │ │ ├── test_tasks.csv │ │ └── train_tasks.csv │ ├── kitchen.py │ ├── kitchen_task.py │ └── register.py ├── maze │ ├── __init__.py │ ├── asset │ │ ├── flat_10t_train_goals.csv │ │ ├── flat_20t_train_goals.csv │ │ ├── flat_40t_train_goals.csv │ │ ├── flat_test_goals.csv │ │ ├── narrow_bottom_test_goals.csv │ │ ├── narrow_top_test_goals.csv │ │ └── narrow_train_goals.csv │ ├── maze.py │ ├── maze_layout.py │ ├── maze_task.py │ └── register.py └── record.py ├── math.py ├── nn ├── __init__.py ├── net.py ├── set_transformer.py └── torch_util.py └── rl ├── __init__.py ├── policy ├── __init__.py ├── context_policy.py └── policy.py └── qf.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/README.md -------------------------------------------------------------------------------- /docs/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/.DS_Store -------------------------------------------------------------------------------- /docs/index.html: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/index.html -------------------------------------------------------------------------------- /docs/resources/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/.DS_Store -------------------------------------------------------------------------------- /docs/resources/clvr_icon.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/clvr_icon.png -------------------------------------------------------------------------------- /docs/resources/env_fig.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/env_fig.png -------------------------------------------------------------------------------- /docs/resources/maze_qual.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/maze_qual.png -------------------------------------------------------------------------------- /docs/resources/model.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/model.png -------------------------------------------------------------------------------- /docs/resources/policy_videos/mtrl_task1_epi0.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/mtrl_task1_epi0.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/mtrl_task1_epi150.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/mtrl_task1_epi150.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/mtrl_task1_epi20.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/mtrl_task1_epi20.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/pearl_task1_epi0.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/pearl_task1_epi0.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/pearl_task1_epi150.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/pearl_task1_epi150.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/pearl_task1_epi20.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/pearl_task1_epi20.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/simpl_task1_epi0.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/simpl_task1_epi0.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/simpl_task1_epi150.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/simpl_task1_epi150.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/simpl_task1_epi20.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/simpl_task1_epi20.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/spirl_task1_epi0.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/spirl_task1_epi0.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/spirl_task1_epi150.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/spirl_task1_epi150.mp4 -------------------------------------------------------------------------------- /docs/resources/policy_videos/spirl_task1_epi20.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/policy_videos/spirl_task1_epi20.mp4 -------------------------------------------------------------------------------- /docs/resources/quant_results.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/quant_results.png -------------------------------------------------------------------------------- /docs/resources/teaser.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/docs/resources/teaser.png -------------------------------------------------------------------------------- /reproduce/kitchen/kitchen_vis.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/kitchen/kitchen_vis.py -------------------------------------------------------------------------------- /reproduce/kitchen/simpl_fine_tune.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/kitchen/simpl_fine_tune.py -------------------------------------------------------------------------------- /reproduce/kitchen/simpl_meta_train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/kitchen/simpl_meta_train.py -------------------------------------------------------------------------------- /reproduce/kitchen/spirl_fine_tune.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/kitchen/spirl_fine_tune.py -------------------------------------------------------------------------------- /reproduce/maze/maze_vis.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/maze/maze_vis.py -------------------------------------------------------------------------------- /reproduce/maze/simpl_fine_tune.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/maze/simpl_fine_tune.py -------------------------------------------------------------------------------- /reproduce/maze/simpl_meta_train_20t.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/maze/simpl_meta_train_20t.py -------------------------------------------------------------------------------- /reproduce/maze/simpl_meta_train_40t.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/maze/simpl_meta_train_40t.py -------------------------------------------------------------------------------- /reproduce/maze/spirl_fine_tune.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/maze/spirl_fine_tune.py -------------------------------------------------------------------------------- /reproduce/simpl_fine_tune.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/simpl_fine_tune.py -------------------------------------------------------------------------------- /reproduce/simpl_meta_train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/simpl_meta_train.py -------------------------------------------------------------------------------- /reproduce/spirl_fine_tune.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/reproduce/spirl_fine_tune.py -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/requirements.txt -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/setup.py -------------------------------------------------------------------------------- /simpl/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /simpl/alg/pearl/__init__.py: -------------------------------------------------------------------------------- 1 | from .encoder import * 2 | -------------------------------------------------------------------------------- /simpl/alg/pearl/encoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/alg/pearl/encoder.py -------------------------------------------------------------------------------- /simpl/alg/simpl/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/alg/simpl/__init__.py -------------------------------------------------------------------------------- /simpl/alg/simpl/collector.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/alg/simpl/collector.py -------------------------------------------------------------------------------- /simpl/alg/simpl/condition.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/alg/simpl/condition.py -------------------------------------------------------------------------------- /simpl/alg/simpl/policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/alg/simpl/policy.py -------------------------------------------------------------------------------- /simpl/alg/simpl/simpl.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/alg/simpl/simpl.py -------------------------------------------------------------------------------- /simpl/alg/spirl/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/alg/spirl/__init__.py -------------------------------------------------------------------------------- /simpl/alg/spirl/constrained_sac.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/alg/spirl/constrained_sac.py -------------------------------------------------------------------------------- /simpl/alg/spirl/prior_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/alg/spirl/prior_policy.py -------------------------------------------------------------------------------- /simpl/alg/spirl/spirl_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/alg/spirl/spirl_policy.py -------------------------------------------------------------------------------- /simpl/collector/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/collector/__init__.py -------------------------------------------------------------------------------- /simpl/collector/collector.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/collector/collector.py -------------------------------------------------------------------------------- /simpl/collector/concurrent.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/collector/concurrent.py -------------------------------------------------------------------------------- /simpl/collector/hierarchical.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/collector/hierarchical.py -------------------------------------------------------------------------------- /simpl/collector/storage.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/collector/storage.py -------------------------------------------------------------------------------- /simpl/env/kitchen/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/kitchen/__init__.py -------------------------------------------------------------------------------- /simpl/env/kitchen/asset/test_tasks.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/kitchen/asset/test_tasks.csv -------------------------------------------------------------------------------- /simpl/env/kitchen/asset/train_tasks.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/kitchen/asset/train_tasks.csv -------------------------------------------------------------------------------- /simpl/env/kitchen/kitchen.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/kitchen/kitchen.py -------------------------------------------------------------------------------- /simpl/env/kitchen/kitchen_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/kitchen/kitchen_task.py -------------------------------------------------------------------------------- /simpl/env/kitchen/register.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/kitchen/register.py -------------------------------------------------------------------------------- /simpl/env/maze/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/__init__.py -------------------------------------------------------------------------------- /simpl/env/maze/asset/flat_10t_train_goals.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/asset/flat_10t_train_goals.csv -------------------------------------------------------------------------------- /simpl/env/maze/asset/flat_20t_train_goals.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/asset/flat_20t_train_goals.csv -------------------------------------------------------------------------------- /simpl/env/maze/asset/flat_40t_train_goals.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/asset/flat_40t_train_goals.csv -------------------------------------------------------------------------------- /simpl/env/maze/asset/flat_test_goals.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/asset/flat_test_goals.csv -------------------------------------------------------------------------------- /simpl/env/maze/asset/narrow_bottom_test_goals.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/asset/narrow_bottom_test_goals.csv -------------------------------------------------------------------------------- /simpl/env/maze/asset/narrow_top_test_goals.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/asset/narrow_top_test_goals.csv -------------------------------------------------------------------------------- /simpl/env/maze/asset/narrow_train_goals.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/asset/narrow_train_goals.csv -------------------------------------------------------------------------------- /simpl/env/maze/maze.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/maze.py -------------------------------------------------------------------------------- /simpl/env/maze/maze_layout.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/maze_layout.py -------------------------------------------------------------------------------- /simpl/env/maze/maze_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/maze_task.py -------------------------------------------------------------------------------- /simpl/env/maze/register.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/maze/register.py -------------------------------------------------------------------------------- /simpl/env/record.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/env/record.py -------------------------------------------------------------------------------- /simpl/math.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/math.py -------------------------------------------------------------------------------- /simpl/nn/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/nn/__init__.py -------------------------------------------------------------------------------- /simpl/nn/net.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/nn/net.py -------------------------------------------------------------------------------- /simpl/nn/set_transformer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/nn/set_transformer.py -------------------------------------------------------------------------------- /simpl/nn/torch_util.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/nn/torch_util.py -------------------------------------------------------------------------------- /simpl/rl/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/rl/__init__.py -------------------------------------------------------------------------------- /simpl/rl/policy/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/rl/policy/__init__.py -------------------------------------------------------------------------------- /simpl/rl/policy/context_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/rl/policy/context_policy.py -------------------------------------------------------------------------------- /simpl/rl/policy/policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/rl/policy/policy.py -------------------------------------------------------------------------------- /simpl/rl/qf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/namsan96/SiMPL/HEAD/simpl/rl/qf.py --------------------------------------------------------------------------------