├── .gitattributes ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── PULL_REQUEST_TEMPLATE.md └── workflows │ └── ci.yml ├── .gitignore ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── CITATION.cff ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── MANIFEST.in ├── README.md ├── docs ├── conf.py ├── index.rst ├── logging.rst ├── math.rst ├── models.rst ├── planning.rst ├── replay_buffer.rst ├── resources │ ├── dataset_evaluator.png │ ├── halfcheetah-break.gif │ ├── inv_pendulum_mbpo_vis.gif │ └── training-browser-example.png └── util.rst ├── mbrl ├── __init__.py ├── algorithms │ ├── __init__.py │ ├── mbpo.py │ └── pets.py ├── constants.py ├── diagnostics │ ├── README.md │ ├── __init__.py │ ├── control_env.py │ ├── eval_model_on_dataset.py │ ├── finetune_model_with_controller.py │ ├── training_browser.py │ └── visualize_model_preds.py ├── env │ ├── __init__.py │ ├── ant_truncated_obs.py │ ├── assets │ │ ├── cartpole.xml │ │ ├── half_cheetah.xml │ │ ├── pusher.xml │ │ └── reacher3d.xml │ ├── cartpole_continuous.py │ ├── distractor_dimensions.py │ ├── humanoid_truncated_obs.py │ ├── mujoco_envs.py │ ├── mujoco_pixel_wrapper.py │ ├── pets_halfcheetah.py │ ├── pets_pusher.py │ ├── pets_reacher.py │ ├── reward_fns.py │ └── termination_fns.py ├── examples │ ├── conf │ │ ├── algorithm │ │ │ ├── mbpo.yaml │ │ │ └── pets.yaml │ │ ├── dynamics_model │ │ │ ├── basic_ensemble.yaml │ │ │ ├── gaussian_mlp.yaml │ │ │ ├── gaussian_mlp_ensemble.yaml │ │ │ ├── value_weighted.yaml │ │ │ └── vaml_ensemble.yaml │ │ ├── main.yaml │ │ └── overrides │ │ │ ├── mbpo_acrobot.yaml │ │ │ ├── mbpo_ant.yaml │ │ │ ├── mbpo_cartpole.yaml │ │ │ ├── mbpo_halfcheetah.yaml │ │ │ ├── mbpo_hopper.yaml │ │ │ ├── mbpo_hopper_distraction.yaml │ │ │ ├── mbpo_humanoid.yaml │ │ │ ├── mbpo_inv_pendulum.yaml │ │ │ ├── mbpo_pendulum.yaml │ │ │ ├── mbpo_pusher.yaml │ │ │ ├── mbpo_walker.yaml │ │ │ ├── pets_cartpole.yaml │ │ │ ├── pets_halfcheetah.yaml │ │ │ ├── pets_hopper.yaml │ │ │ ├── pets_inv_pendulum.yaml │ │ │ ├── pets_pusher.yaml │ │ │ └── pets_reacher.yaml │ └── main.py ├── models │ ├── __init__.py │ ├── basic_ensemble.py │ ├── gaussian_mlp.py │ ├── model.py │ ├── model_env.py │ ├── model_trainer.py │ ├── one_dim_tr_model.py │ ├── util.py │ └── vaml_mlp.py ├── planning │ ├── __init__.py │ ├── core.py │ ├── sac_wrapper.py │ └── trajectory_opt.py ├── third_party │ ├── __init__.py │ ├── dmc2gym │ │ ├── LICENSE │ │ ├── README.md │ │ ├── __init__.py │ │ ├── setup.py │ │ └── wrappers.py │ └── pytorch_sac │ │ ├── LICENSE │ │ ├── README.md │ │ ├── __init__.py │ │ ├── agent │ │ ├── __init__.py │ │ ├── actor.py │ │ ├── critic.py │ │ └── sac.py │ │ ├── conda_env.yml │ │ ├── config │ │ ├── agent │ │ │ └── sac.yaml │ │ └── train.yaml │ │ ├── exp │ │ └── default │ │ │ └── gym___Humanoid-v2 │ │ │ └── 2021.11.11 │ │ │ ├── 1343_sac_test_exp │ │ │ ├── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ │ ├── sac_eval.csv │ │ │ ├── sac_train.csv │ │ │ ├── tb │ │ │ │ └── events.out.tfevents.1636656218.vws105.11681.0 │ │ │ └── train.log │ │ │ ├── 1344_sac_test_exp │ │ │ ├── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ │ ├── sac_eval.csv │ │ │ ├── sac_train.csv │ │ │ ├── tb │ │ │ │ └── events.out.tfevents.1636656262.vws105.11889.0 │ │ │ └── train.log │ │ │ └── 1347_sac_test_exp │ │ │ ├── .hydra │ │ │ ├── config.yaml │ │ │ ├── hydra.yaml │ │ │ └── overrides.yaml │ │ │ ├── sac_eval.csv │ │ │ ├── sac_train.csv │ │ │ ├── tb │ │ │ └── events.out.tfevents.1636656453.vws105.12707.0 │ │ │ └── train.log │ │ ├── figures │ │ └── dm_control.png │ │ ├── logger.py │ │ ├── replay_buffer.py │ │ ├── setup.py │ │ ├── train.py │ │ ├── utils.py │ │ └── video.py ├── types.py └── util │ ├── __init__.py │ ├── common.py │ ├── logger.py │ ├── math.py │ ├── mujoco.py │ └── replay_buffer.py ├── notebooks ├── cem_rosenbrock_ex.ipynb ├── fit_ensemble_1d.ipynb ├── fit_gaussian_mlp_ensemble_1d.ipynb └── 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