├── .gitignore ├── Readme.md ├── agent ├── dataset │ ├── __init__.py │ └── sequence.py ├── eval │ ├── eval_agent.py │ ├── eval_diffusion_agent.py │ ├── eval_diffusion_img_agent.py │ ├── eval_gaussian_agent.py │ └── eval_gaussian_img_agent.py ├── finetune │ ├── train_agent.py │ ├── train_awr_diffusion_agent.py │ ├── train_calql_agent.py │ ├── train_dipo_diffusion_agent.py │ ├── train_dql_diffusion_agent.py │ ├── train_ibrl_agent.py │ ├── train_idql_diffusion_agent.py │ ├── train_ppo_agent.py │ ├── train_ppo_diffusion_agent.py │ ├── train_ppo_diffusion_img_agent.py │ ├── train_ppo_exact_diffusion_agent.py │ ├── train_ppo_gaussian_agent.py │ ├── train_ppo_gaussian_img_agent.py │ ├── train_qsm_diffusion_agent.py │ ├── train_rlpd_agent.py │ ├── train_rwr_diffusion_agent.py │ └── train_sac_agent.py └── pretrain │ ├── train_agent.py │ ├── train_diffusion_agent.py │ └── train_gaussian_agent.py ├── aliengo_gym ├── __init__.py ├── __pycache__ │ └── __init__.cpython-38.pyc ├── envs │ ├── __init__.py │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ ├── aliengo │ │ ├── __init__.py │ │ ├── aliengo_config.py │ │ └── velocity_tracking │ │ │ ├── __init__.py │ │ │ └── __pycache__ │ │ │ └── __init__.cpython-38.pyc │ ├── base │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base_task.cpython-38.pyc │ │ │ ├── curriculum.cpython-38.pyc │ │ │ ├── legged_robot.cpython-38.pyc │ │ │ └── legged_robot_config.cpython-38.pyc │ │ ├── base_task.py │ │ ├── curriculum.py │ │ ├── legged_robot.py │ │ └── legged_robot_config.py │ ├── rewards │ │ ├── __pycache__ │ │ │ └── corl_rewards.cpython-38.pyc │ │ ├── corl_rewards.py │ │ └── vel_tracking_rewards.py │ └── wrappers │ │ ├── __pycache__ │ │ └── history_wrapper.cpython-38.pyc │ │ ├── aliengo.py │ │ └── history_wrapper.py └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── math_utils.cpython-38.pyc │ └── terrain.cpython-38.pyc │ ├── math_utils.py │ └── terrain.py ├── cfg └── aliengo │ ├── eval │ ├── multi_gait_and_vel │ │ └── eval_diffusion_unet.yaml │ ├── multi_straight │ │ └── eval_diffusion_unet.yaml │ └── trotting_straight │ │ └── eval_diffusion_unet.yaml │ ├── finetune │ └── multi_gait_and_vel │ │ └── ft_ppo_diffusion_unet.yaml │ └── pretrain │ ├── multi_gait_and_vel │ └── pre_diffusion_unet.yaml │ ├── multi_straight │ └── pre_diffusion_unet.yaml │ └── trotting_straight │ └── pre_diffusion_unet.yaml ├── docs └── frame.png ├── env ├── gym_utils │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── furniture_normalizer.cpython-38.pyc │ ├── async_vector_env.py │ ├── sync_vector_env.py │ └── vector_env.py └── plot_traj.py ├── model ├── __init__.py ├── common │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── critic.cpython-38.pyc │ │ ├── mlp.cpython-38.pyc │ │ └── modules.cpython-38.pyc │ ├── critic.py │ ├── gaussian.py │ ├── gmm.py │ ├── mlp.py │ ├── mlp_gaussian.py │ ├── mlp_gmm.py │ ├── modules.py │ ├── transformer.py │ └── vit.py ├── diffusion │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── diffusion.cpython-38.pyc │ │ ├── diffusion_ppo.cpython-38.pyc │ │ ├── diffusion_vpg.cpython-38.pyc │ │ ├── eta.cpython-38.pyc │ │ ├── modules.cpython-38.pyc │ │ ├── sampling.cpython-38.pyc │ │ └── unet.cpython-38.pyc │ ├── diffusion.py │ ├── diffusion_awr.py │ ├── diffusion_dipo.py │ ├── diffusion_dql.py │ ├── diffusion_idql.py │ ├── diffusion_ppo.py │ ├── diffusion_ppo_exact.py │ ├── diffusion_qsm.py │ ├── diffusion_rwr.py │ ├── diffusion_vpg.py │ ├── eta.py │ ├── exact_likelihood.py │ ├── mlp_diffusion.py │ ├── modules.py │ ├── sampling.py │ ├── sde_lib.py │ └── unet.py └── rl │ ├── __init__.py │ ├── gaussian_awr.py │ ├── gaussian_calql.py │ ├── gaussian_ibrl.py │ ├── gaussian_ppo.py │ ├── gaussian_rlpd.py │ ├── gaussian_rwr.py │ ├── gaussian_sac.py │ ├── gaussian_vpg.py │ ├── gmm_ppo.py │ └── gmm_vpg.py ├── pyproject.toml ├── requirements.txt ├── resources └── robots │ └── aliengo │ ├── meshes │ ├── calf.dae │ ├── hip.dae │ ├── thigh.dae │ ├── thigh_mirror.dae │ ├── trunk.dae │ └── trunk_uv_base_final.png │ └── urdf │ └── aliengo.urdf ├── script ├── clean_data.py ├── collect_data.py ├── download_url.py ├── eval_ppo.py ├── eval_pretrain.py ├── load_data.py ├── modify_ho_data.py ├── performance.py └── run.py └── util ├── __init__.py ├── reward_scaling.py ├── scheduler.py └── timer.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/queenxy/DMLoco/HEAD/.gitignore -------------------------------------------------------------------------------- /Readme.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/queenxy/DMLoco/HEAD/Readme.md -------------------------------------------------------------------------------- /agent/dataset/__init__.py: 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