├── stable_baselines3 ├── py.typed ├── common │ ├── __init__.py │ ├── sb2_compat │ │ └── __init__.py │ └── cmd_util.py ├── a2c │ ├── __init__.py │ └── policies.py ├── dqn │ └── __init__.py ├── sac │ └── __init__.py ├── td3 │ └── __init__.py ├── ddpg │ ├── __init__.py │ └── policies.py ├── her │ ├── __init__.py │ └── goal_selection_strategy.py ├── ppo │ ├── __init__.py │ └── policies.py └── __init__.py ├── custom_dmcontrol ├── dm_control │ ├── locomotion │ │ ├── gaps.png │ │ ├── walls.png │ │ ├── soccer │ │ │ ├── soccer.png │ │ │ ├── assets │ │ │ │ ├── pitch │ │ │ │ │ ├── pitch_l.png │ │ │ │ │ ├── pitch_m.png │ │ │ │ │ ├── pitch_s.png │ │ │ │ │ ├── pitch_xs.png │ │ │ │ │ ├── pitch_nologo_l.png │ │ │ │ │ ├── pitch_nologo_m.png │ │ │ │ │ ├── pitch_nologo_s.png │ │ │ │ │ └── pitch_nologo_xs.png │ │ │ │ ├── soccer_ball │ │ │ │ │ ├── up.png │ │ │ │ │ ├── back.png │ │ │ │ │ ├── down.png │ │ │ │ │ ├── front.png │ │ │ │ │ ├── left.png │ │ │ │ │ └── right.png │ │ │ │ └── boxhead │ │ │ │ │ └── digits │ │ │ │ │ ├── 00.png │ │ │ │ │ ├── 01.png │ │ │ │ │ ├── 02.png │ │ │ │ │ ├── 03.png │ │ │ │ │ ├── 04.png │ │ │ │ │ ├── 05.png │ │ │ │ │ ├── 06.png │ │ │ │ │ ├── 07.png │ │ │ │ │ ├── 08.png │ │ │ │ │ ├── 09.png │ │ │ │ │ └── 10.png │ │ │ └── team.py │ │ ├── mocap │ │ │ ├── test_trajectories.h5 │ │ │ └── __init__.py │ │ ├── walkers │ │ │ ├── assets │ │ │ │ ├── rodent_walker_skin.skn │ │ │ │ └── jumping_ball │ │ │ │ │ └── jumping_ball_body.png │ │ │ └── __init__.py │ │ ├── arenas │ │ │ └── assets │ │ │ │ └── outdoor_natural │ │ │ │ ├── OutdoorSkybox2048.png │ │ │ │ └── OutdoorGrassFloorD.png │ │ ├── __init__.py │ │ ├── tasks │ │ │ └── reference_pose │ │ │ │ ├── __init__.py │ │ │ │ └── datasets.py │ │ ├── props │ │ │ └── __init__.py │ │ └── examples │ │ │ ├── __init__.py │ │ │ └── explore.py │ ├── suite │ │ ├── all_domains.png │ │ ├── dog_assets │ │ │ ├── BONEC_1.stl │ │ │ ├── BONEC_2.stl │ │ │ ├── BONEC_3.stl │ │ │ ├── BONEC_4.stl │ │ │ ├── BONEC_5.stl │ │ │ ├── BONEC_6.stl │ │ │ ├── BONEC_7.stl │ │ │ ├── BONECa_1.stl │ │ │ ├── BONECa_2.stl │ │ │ ├── BONECa_3.stl │ │ │ ├── BONECa_4.stl │ │ │ ├── BONECa_5.stl │ │ │ ├── BONECa_6.stl │ │ │ ├── BONECa_7.stl │ │ │ ├── BONECa_8.stl │ │ │ ├── BONECa_9.stl │ │ │ ├── BONEJaw.stl │ │ │ ├── BONEL_1.stl │ │ │ ├── BONEL_2.stl │ │ │ ├── BONEL_3.stl │ │ │ ├── BONEL_4.stl │ │ │ ├── BONEL_5.stl │ │ │ ├── BONEL_6.stl │ │ │ ├── BONEL_7.stl │ │ │ ├── SKINbody.stl │ │ │ ├── dog_skin.msh │ │ │ ├── dog_skin.skn │ │ │ ├── BONECa_10.stl │ │ │ ├── BONECa_11.stl │ │ │ ├── BONECa_12.stl │ │ │ ├── BONECa_13.stl │ │ │ ├── BONECa_14.stl │ │ │ ├── BONECa_15.stl │ │ │ ├── BONECa_16.stl │ │ │ ├── BONECa_17.stl │ │ │ ├── BONECa_18.stl │ │ │ ├── BONECa_19.stl │ │ │ ├── BONECa_20.stl │ │ │ ├── BONECa_21.stl │ │ │ ├── BONEPelvis.stl │ │ │ ├── BONERibcage.stl │ │ │ ├── BONESacrum.stl │ │ │ ├── BONETibia_L.stl │ │ │ ├── BONETibia_R.stl │ │ │ ├── BONEUlna_L.stl │ │ │ ├── BONEUlna_R.stl │ │ │ ├── BONEeye_L.stl │ │ │ ├── BONEeye_R.stl │ │ │ ├── tennis_ball.png │ │ │ ├── BONECarpal_L.stl │ │ │ ├── BONECarpal_R.stl │ │ │ ├── BONEFemoris_L.stl │ │ │ ├── BONEFemoris_R.stl │ │ │ ├── BONEFibula_L.stl │ │ │ ├── BONEFibula_R.stl │ │ │ ├── BONEPatella_L.stl │ │ │ ├── BONEPatella_R.stl │ │ │ ├── BONERadius_L.stl │ │ │ ├── BONERadius_R.stl │ │ │ ├── BONEScapula_L.stl │ │ │ ├── BONEScapula_R.stl │ │ │ ├── BONEhumerus_L.stl │ │ │ ├── BONEhumerus_R.stl │ │ │ ├── skin_texture.png │ │ │ ├── BONECarpal_III_L.stl │ │ │ ├── BONECarpal_III_R.stl │ │ │ ├── BONECarpal_II_L.stl │ │ │ ├── BONECarpal_II_R.stl │ │ │ ├── BONECarpal_IV_L.stl │ │ │ ├── BONECarpal_IV_R.stl │ │ │ ├── BONECarpal_I_L.stl │ │ │ ├── BONECarpal_I_R.stl │ │ │ ├── BONEMergedSkull.stl │ │ │ ├── BONETarsus_L_I.stl │ │ │ ├── BONETarsus_L_II.stl │ │ │ ├── BONETarsus_L_III.stl │ │ │ ├── BONETarsus_L_IV.stl │ │ │ ├── BONETarsus_R_I.stl │ │ │ ├── BONETarsus_R_II.stl │ │ │ ├── BONETarsus_R_III.stl │ │ │ ├── BONETarsus_R_IV.stl │ │ │ ├── BONECarpal_ulnar_L.stl │ │ │ ├── BONECarpal_ulnar_R.stl │ │ │ ├── BONELingual_bone_1.stl │ │ │ ├── BONELingual_bone_2.stl │ │ │ ├── BONELingual_bone_3.stl │ │ │ ├── BONELingual_bone_4.stl │ │ │ ├── BONELingual_bone_5.stl │ │ │ ├── BONELingual_bone_6.stl │ │ │ ├── BONELingual_bone_7.stl │ │ │ ├── BONELingual_bone_8.stl │ │ │ ├── BONELingual_bone_9.stl │ │ │ ├── BONEMetatarsi_L_1.stl │ │ │ ├── BONEMetatarsi_L_2.stl │ │ │ ├── BONEMetatarsi_L_3.stl │ │ │ ├── BONEMetatarsi_L_4.stl │ │ │ ├── BONEMetatarsi_R_1.stl │ │ │ ├── BONEMetatarsi_R_2.stl │ │ │ ├── BONEMetatarsi_R_3.stl │ │ │ ├── BONEMetatarsi_R_4.stl │ │ │ ├── BONECalcaneal_tuber_L.stl │ │ │ ├── BONECalcaneal_tuber_R.stl │ │ │ ├── BONECarpal_Sesamoid_L.stl │ │ │ ├── BONECarpal_Sesamoid_R.stl │ │ │ ├── BONEPhalanges_B_2_L_1.stl │ │ │ ├── BONEPhalanges_B_2_L_2.stl │ │ │ ├── BONEPhalanges_B_2_L_3.stl │ │ │ ├── BONEPhalanges_B_2_L_4.stl │ │ │ ├── BONEPhalanges_B_2_R_1.stl │ │ │ ├── BONEPhalanges_B_2_R_2.stl │ │ │ ├── BONEPhalanges_B_2_R_3.stl │ │ │ ├── BONEPhalanges_B_2_R_4.stl │ │ │ ├── BONEPhalanges_B_3_L_1.stl │ │ │ ├── BONEPhalanges_B_3_L_2.stl │ │ │ ├── BONEPhalanges_B_3_L_3.stl │ │ │ ├── BONEPhalanges_B_3_L_4.stl │ │ │ ├── BONEPhalanges_B_3_R_1.stl │ │ │ ├── BONEPhalanges_B_3_R_2.stl │ │ │ ├── BONEPhalanges_B_3_R_3.stl │ │ │ ├── BONEPhalanges_B_3_R_4.stl │ │ │ ├── BONEPhalanges_B_L_1.stl │ │ │ ├── BONEPhalanges_B_L_2.stl │ │ │ ├── BONEPhalanges_B_L_3.stl │ │ │ ├── BONEPhalanges_B_L_4.stl │ │ │ ├── BONEPhalanges_B_R_1.stl │ │ │ ├── BONEPhalanges_B_R_2.stl │ │ │ ├── BONEPhalanges_B_R_3.stl │ │ │ ├── BONEPhalanges_B_R_4.stl │ │ │ ├── BONETarsus_central_L.stl │ │ │ ├── BONETarsus_central_R.stl │ │ │ ├── BONETibial_tarsal_L.stl │ │ │ ├── BONETibial_tarsal_R.stl │ │ │ ├── BONECarpal_accessory_L.stl │ │ │ ├── BONECarpal_accessory_R.stl │ │ │ ├── BONEOs_metacarpale_II_L.stl │ │ │ ├── BONEOs_metacarpale_II_R.stl │ │ │ ├── BONEOs_metacarpale_IV_L.stl │ │ │ ├── BONEOs_metacarpale_IV_R.stl │ │ │ ├── BONEOs_metacarpale_I_L.stl │ │ │ ├── BONEOs_metacarpale_I_R.stl │ │ │ ├── BONEOs_metacarpale_V_L.stl │ │ │ ├── BONEOs_metacarpale_V_R.stl │ │ │ ├── BONEFemoris_fabellae_L_1.stl │ │ │ ├── BONEFemoris_fabellae_L_2.stl │ │ │ ├── BONEFemoris_fabellae_R_1.stl │ │ │ ├── BONEFemoris_fabellae_R_2.stl │ │ │ ├── BONEOs_metacarpale_III_L.stl │ │ │ ├── BONEOs_metacarpale_III_R.stl │ │ │ ├── BONEOs_metacarpale_V_L.001.stl │ │ │ ├── BONEOs_metacarpale_V_R.001.stl │ │ │ ├── BONEPhalanx_media_digiti_V_L.stl │ │ │ ├── BONEPhalanx_media_digiti_V_R.stl │ │ │ ├── BONEPhalanx_distalis_digiti_I_L.stl │ │ │ ├── BONEPhalanx_distalis_digiti_I_R.stl │ │ │ ├── BONEPhalanx_distalis_digiti_V_L.stl │ │ │ ├── BONEPhalanx_distalis_digiti_V_R.stl │ │ │ ├── BONEPhalanx_media_digiti_III_L.stl │ │ │ ├── BONEPhalanx_media_digiti_III_R.stl │ │ │ ├── BONEPhalanx_media_digiti_II_L.stl │ │ │ ├── BONEPhalanx_media_digiti_II_R.stl │ │ │ ├── BONEPhalanx_media_digiti_IV_L.stl │ │ │ ├── BONEPhalanx_media_digiti_IV_R.stl │ │ │ ├── BONEPhalanx_distalis_digiti_III_L.stl │ │ │ ├── BONEPhalanx_distalis_digiti_III_R.stl │ │ │ ├── BONEPhalanx_distalis_digiti_II_L.stl │ │ │ ├── BONEPhalanx_distalis_digiti_II_R.stl │ │ │ ├── BONEPhalanx_distalis_digiti_IV_L.stl │ │ │ ├── BONEPhalanx_distalis_digiti_IV_R.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_II_L.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_II_R.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_IV_R.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_V_L.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_V_R.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_III_L_.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_III_R.stl │ │ │ └── BONEPhalanxpmxinutlis_digiti_IV_L_.stl │ │ ├── common │ │ │ ├── visual.xml │ │ │ ├── skybox.xml │ │ │ └── materials.xml │ │ ├── utils │ │ │ └── __init__.py │ │ ├── wrappers │ │ │ └── __init__.py │ │ ├── lqr.xml │ │ └── pendulum.xml │ ├── mjcf │ │ └── test_assets │ │ │ ├── meshes │ │ │ ├── cube.msh │ │ │ ├── cube.stl │ │ │ └── more_meshes │ │ │ │ └── cube.stl │ │ │ ├── skins │ │ │ └── test_skin.skn │ │ │ ├── textures │ │ │ └── deepmind.png │ │ │ ├── included.xml │ │ │ ├── included_with_invalid_filenames.xml │ │ │ ├── model_with_include.xml │ │ │ ├── model_with_invalid_filenames.xml │ │ │ ├── model_with_nameless_assets.xml │ │ │ └── model_with_assets.xml │ ├── mujoco │ │ ├── testing │ │ │ ├── assets │ │ │ │ ├── cube.stl │ │ │ │ ├── deepmind.png │ │ │ │ ├── sphere.xml │ │ │ │ ├── frames │ │ │ │ │ ├── cartpole_seed_0_camera_0_320x240_hardware │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── cartpole_seed_0_camera_0_320x240_software │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_hardware │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_software │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid_seed_0_camera_head_track_64x64_hardware │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid_seed_0_camera_head_track_64x64_software │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_hardware_reflection_False_shadow_False │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ └── humanoid_seed_0_camera_0_240x320_software_reflection_False_shadow_False │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ ├── model_incorrect_actuator_order.xml │ │ │ │ ├── model_with_assets.xml │ │ │ │ ├── model_with_third_order_actuators.xml │ │ │ │ └── model_with_ball_joints.xml │ │ │ └── __init__.py │ │ └── __init__.py │ ├── third_party │ │ └── kinova │ │ │ ├── meshes_decimated │ │ │ ├── arm.stl │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── wrist.stl │ │ │ ├── shoulder.stl │ │ │ ├── hand_3finger.stl │ │ │ ├── finger_distal.stl │ │ │ ├── finger_proximal.stl │ │ │ ├── hand_3finger_main.stl │ │ │ └── hand_3finger_insert.stl │ │ │ └── common.xml │ ├── composer │ │ ├── arena.xml │ │ ├── constants.py │ │ ├── initializers │ │ │ └── __init__.py │ │ ├── initializer.py │ │ └── observation │ │ │ └── __init__.py │ ├── __init__.py │ ├── utils │ │ └── __init__.py │ ├── entities │ │ ├── __init__.py │ │ ├── manipulators │ │ │ ├── __init__.py │ │ │ └── kinova │ │ │ │ └── __init__.py │ │ └── props │ │ │ └── __init__.py │ ├── _render │ │ ├── pyopengl │ │ │ └── __init__.py │ │ └── constants.py │ ├── autowrap │ │ └── __init__.py │ ├── manipulation │ │ └── shared │ │ │ ├── __init__.py │ │ │ ├── tags.py │ │ │ └── constants.py │ └── rl │ │ └── __init__.py ├── AUTHORS └── CONTRIBUTING.md ├── rlkit └── envs │ └── wrappers │ └── __init__.py ├── custom_dmc2gym ├── setup.py ├── README.md └── LICENSE ├── conda_env.yml ├── scripts ├── button_press │ ├── 10000 │ │ ├── run_PrefPPO.sh │ │ └── run_PrefPPO_rune.sh │ └── 20000 │ │ ├── run_PrefPPO.sh │ │ └── run_PrefPPO_rune.sh ├── door_close │ ├── 500 │ │ ├── run_PEBBLE.sh │ │ └── run_PEBBLE_rune.sh │ └── 1000 │ │ ├── run_PEBBLE.sh │ │ └── run_PEBBLE_rune.sh ├── door_open │ ├── 2000 │ │ ├── run_PEBBLE.sh │ │ └── run_PEBBLE_rune.sh │ └── 4000 │ │ ├── run_PEBBLE.sh │ │ └── run_PEBBLE_rune.sh ├── door_unlock │ ├── 2500 │ │ ├── run_PEBBLE.sh │ │ └── run_PEBBLE_rune.sh │ └── 5000 │ │ ├── run_PEBBLE.sh │ │ └── run_PEBBLE_rune.sh ├── drawer_open │ ├── 5000 │ │ ├── run_PEBBLE.sh │ │ └── run_PEBBLE_rune.sh │ └── 10000 │ │ ├── run_PEBBLE.sh │ │ └── run_PEBBLE_rune.sh ├── window_close │ ├── 500 │ │ ├── run_PEBBLE.sh │ │ └── run_PEBBLE_rune.sh │ └── 1000 │ │ ├── run_PEBBLE.sh │ │ └── run_PEBBLE_rune.sh └── sweep_into │ ├── 5000 │ ├── run_PEBBLE.sh │ └── run_PEBBLE_rune.sh │ └── 10000 │ ├── run_PEBBLE_rune.sh │ └── run_PEBBLE.sh ├── agent └── __init__.py ├── config ├── train.yaml └── agent │ ├── sac.yaml │ └── sac_metaworld.yaml └── LICENSE /stable_baselines3/py.typed: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /stable_baselines3/common/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /stable_baselines3/common/sb2_compat/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/locomotion/gaps.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rll-research/rune/HEAD/custom_dmcontrol/dm_control/locomotion/gaps.png -------------------------------------------------------------------------------- /stable_baselines3/a2c/__init__.py: -------------------------------------------------------------------------------- 1 | from stable_baselines3.a2c.a2c import A2C 2 | from stable_baselines3.a2c.policies import CnnPolicy, MlpPolicy 3 | -------------------------------------------------------------------------------- /stable_baselines3/dqn/__init__.py: -------------------------------------------------------------------------------- 1 | from stable_baselines3.dqn.dqn import DQN 2 | from stable_baselines3.dqn.policies import CnnPolicy, MlpPolicy 3 | -------------------------------------------------------------------------------- /stable_baselines3/sac/__init__.py: -------------------------------------------------------------------------------- 1 | from stable_baselines3.sac.policies import CnnPolicy, MlpPolicy 2 | from stable_baselines3.sac.sac import SAC 3 | 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-------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /stable_baselines3/ppo/__init__.py: -------------------------------------------------------------------------------- 1 | from stable_baselines3.ppo.policies import CnnPolicy, MlpPolicy 2 | from stable_baselines3.ppo.ppo import PPO 3 | from stable_baselines3.ppo.ppo_custom import PPO_CUSTOM 4 | from stable_baselines3.ppo.ppo_with_reward import PPO_REWARD 5 | from stable_baselines3.ppo.ppo_with_reward_explore import PPO_REWARD_EXPLORE 6 | -------------------------------------------------------------------------------- /custom_dmcontrol/AUTHORS: -------------------------------------------------------------------------------- 1 | # This is the list of dm_control authors for copyright purposes. 2 | # 3 | # This does not necessarily list everyone who has contributed code, since in 4 | # some cases, their employer may be the copyright holder. To see the full list 5 | # of contributors, see the revision history in source control. 6 | 7 | DeepMind Technologies 8 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mjcf/test_assets/included_with_invalid_filenames.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /stable_baselines3/a2c/policies.py: -------------------------------------------------------------------------------- 1 | # This file is here just to define MlpPolicy/CnnPolicy 2 | # that work for A2C 3 | from stable_baselines3.common.policies import ActorCriticCnnPolicy, ActorCriticPolicy, register_policy 4 | 5 | MlpPolicy = ActorCriticPolicy 6 | CnnPolicy = ActorCriticCnnPolicy 7 | 8 | register_policy("MlpPolicy", ActorCriticPolicy) 9 | register_policy("CnnPolicy", ActorCriticCnnPolicy) 10 | -------------------------------------------------------------------------------- /stable_baselines3/ppo/policies.py: -------------------------------------------------------------------------------- 1 | # This file is here just to define MlpPolicy/CnnPolicy 2 | # that work for PPO 3 | from stable_baselines3.common.policies import ActorCriticCnnPolicy, ActorCriticPolicy, register_policy 4 | 5 | MlpPolicy = ActorCriticPolicy 6 | CnnPolicy = ActorCriticCnnPolicy 7 | 8 | register_policy("MlpPolicy", ActorCriticPolicy) 9 | register_policy("CnnPolicy", ActorCriticCnnPolicy) 10 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mjcf/test_assets/model_with_include.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mjcf/test_assets/model_with_invalid_filenames.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /custom_dmc2gym/setup.py: -------------------------------------------------------------------------------- 1 | import os 2 | from setuptools import setup 3 | from setuptools import find_packages 4 | 5 | setup( 6 | name='dmc2gym', 7 | version='1.0.0', 8 | author='Denis Yarats / Kimin', 9 | description=('a gym like wrapper for dm_control. KM add supports for manipulator'), 10 | license='', 11 | keywords='gym dm_control openai deepmind', 12 | packages=find_packages(), 13 | install_requires=[ 14 | 'gym', 15 | 'dm_control', 16 | ], 17 | ) 18 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mujoco/testing/assets/model_incorrect_actuator_order.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /conda_env.yml: -------------------------------------------------------------------------------- 1 | name: rune 2 | channels: 3 | - defaults 4 | dependencies: 5 | - python=3.6 6 | - pytorch=1.4.0 7 | - cudatoolkit=10.1 8 | - absl-py 9 | - pyparsing 10 | - pip 11 | - pip: 12 | - termcolor 13 | - git+git://github.com/deepmind/dm_control.git@d1fe1d14fb229d3ad784e40d8c54491d30e1f08a 14 | - tb-nightly 15 | - imageio 16 | - imageio-ffmpeg 17 | - git+git://github.com/facebookresearch/hydra@0.11_branch 18 | - matplotlib 19 | - glfw==1.11.2 20 | - scikit-image 21 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/composer/arena.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 12 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mujoco/testing/assets/model_with_assets.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/third_party/kinova/common.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /scripts/button_press/10000/run_PrefPPO.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PrefPPO.py --env metaworld_button-press-v2 --seed $seed --date $1 --lr 0.0003 --batch-size 128 --n-envs 16 --ent-coef 0.0 --n-steps 250 --total-timesteps 4000000 --num-layer 3 --hidden-dim 256 --clip-init 0.4 --gae-lambda 0.92 --re-feed-type 1 --re-num-interaction 10000 --teacher-beta -1 --teacher-gamma 1 --teacher-eps-mistake 0 --teacher-eps-skip 0 --teacher-eps-equal 0 --re-segment 50 --unsuper-step 32000 --unsuper-n-epochs 50 --re-max-feed 10000 --re-batch 100 --re-update 50 3 | done 4 | -------------------------------------------------------------------------------- /scripts/button_press/20000/run_PrefPPO.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PrefPPO.py --env metaworld_button-press-v2 --seed $seed --date $1 --lr 0.0003 --batch-size 128 --n-envs 16 --ent-coef 0.0 --n-steps 250 --total-timesteps 4000000 --num-layer 3 --hidden-dim 256 --clip-init 0.4 --gae-lambda 0.92 --re-feed-type 1 --re-num-interaction 10000 --teacher-beta -1 --teacher-gamma 1 --teacher-eps-mistake 0 --teacher-eps-skip 0 --teacher-eps-equal 0 --re-segment 50 --unsuper-step 32000 --unsuper-n-epochs 50 --re-max-feed 20000 --re-batch 100 --re-update 50 3 | done 4 | -------------------------------------------------------------------------------- /scripts/door_close/500/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 67890 78906 89067 90678 6789; do 2 | python train_PEBBLE.py env=metaworld_door-close-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=500000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=500 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/door_open/2000/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE.py env=metaworld_door-open-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=2000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/door_open/4000/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE.py env=metaworld_door-open-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=4000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/door_close/1000/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 67890 78906 89067 90678 6789; do 2 | python train_PEBBLE.py env=metaworld_door-close-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=500000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=1000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/door_unlock/2500/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE.py env=metaworld_door-unlock-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=25 max_feedback=2500 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/door_unlock/5000/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE.py env=metaworld_door-unlock-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=5000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/drawer_open/5000/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE.py env=metaworld_drawer-open-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=100 max_feedback=5000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/window_close/500/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE.py env=metaworld_window-close-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=10 max_feedback=500 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/sweep_into/5000/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE.py env=metaworld_sweep-into-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=2000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=5000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done 4 | -------------------------------------------------------------------------------- /scripts/window_close/1000/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE.py env=metaworld_window-close-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=500000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=10 max_feedback=1000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done 4 | -------------------------------------------------------------------------------- /scripts/button_press/10000/run_PrefPPO_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PrefPPO_explore.py --env metaworld_button-press-v2 --seed $seed --date $1 --lr 0.0003 --batch-size 128 --n-envs 16 --ent-coef 0.0 --n-steps 250 --total-timesteps 4000000 --num-layer 3 --hidden-dim 256 --clip-init 0.4 --gae-lambda 0.92 --re-feed-type 1 --re-num-interaction 10000 --teacher-beta -1 --teacher-gamma 1 --teacher-eps-mistake 0 --teacher-eps-skip 0 --teacher-eps-equal 0 --re-segment 50 --unsuper-step 32000 --unsuper-n-epochs 50 --re-max-feed 10000 --re-batch 100 --re-update 50 3 | done 4 | -------------------------------------------------------------------------------- /scripts/button_press/20000/run_PrefPPO_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PrefPPO_explore.py --env metaworld_button-press-v2 --seed $seed --date $1 --lr 0.0003 --batch-size 128 --n-envs 16 --ent-coef 0.0 --n-steps 250 --total-timesteps 4000000 --num-layer 3 --hidden-dim 256 --clip-init 0.4 --gae-lambda 0.92 --re-feed-type 1 --re-num-interaction 10000 --teacher-beta -1 --teacher-gamma 1 --teacher-eps-mistake 0 --teacher-eps-skip 0 --teacher-eps-equal 0 --re-segment 50 --unsuper-step 32000 --unsuper-n-epochs 50 --re-max-feed 20000 --re-batch 100 --re-update 50 3 | done 4 | -------------------------------------------------------------------------------- /scripts/door_close/1000/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 67890 78906 89067 90678 6789; do 2 | python train_PEBBLE_explore.py env=metaworld_door-close-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=500000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=1000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/door_close/500/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 67890 78906 89067 90678 6789; do 2 | python train_PEBBLE_explore.py env=metaworld_door-close-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=500000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=500 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/door_open/2000/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE_explore.py env=metaworld_door-open-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=2000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/door_open/4000/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE_explore.py env=metaworld_door-open-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=4000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/sweep_into/5000/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE_explore.py env=metaworld_sweep-into-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=2000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=5000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/door_unlock/2500/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE_explore.py env=metaworld_door-unlock-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=25 max_feedback=2500 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/door_unlock/5000/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE_explore.py env=metaworld_door-unlock-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=5000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/sweep_into/10000/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 5123; do 2 | python train_PEBBLE_explore.py env=metaworld_sweep-into-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=2000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=50 max_feedback=10000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /scripts/window_close/1000/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE_explore.py env=metaworld_window-close-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=500000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=10 max_feedback=1000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done 4 | -------------------------------------------------------------------------------- /scripts/window_close/500/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE_explore.py env=metaworld_window-close-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=10 max_feedback=500 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done 4 | -------------------------------------------------------------------------------- /scripts/drawer_open/5000/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE_explore.py env=metaworld_drawer-open-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 agent.params.beta_decay=0.001 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=100 max_feedback=5000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 seed=$seed 3 | done -------------------------------------------------------------------------------- /agent/__init__.py: -------------------------------------------------------------------------------- 1 | import abc 2 | 3 | 4 | class Agent(object): 5 | def reset(self): 6 | """For state-full agents this function performs reseting at the beginning of each episode.""" 7 | pass 8 | 9 | @abc.abstractmethod 10 | def train(self, training=True): 11 | """Sets the agent in either training or evaluation mode.""" 12 | 13 | @abc.abstractmethod 14 | def update(self, replay_buffer, logger, step): 15 | """Main function of the agent that performs learning.""" 16 | 17 | @abc.abstractmethod 18 | def act(self, obs, sample=False): 19 | """Issues an action given an observation.""" 20 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mujoco/testing/assets/model_with_third_order_actuators.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /scripts/sweep_into/10000/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE.py env=metaworld_sweep-into-v2 seed=$seed date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_unsup_steps=9000 num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 num_interact=10000 max_feedback=10000 reward_batch=50 reward_update=10 feed_type=1 teacher_beta=-1 teacher_gamma=1 teacher_eps_mistake=0 teacher_eps_skip=0 teacher_eps_equal=0 3 | done -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mjcf/test_assets/model_with_nameless_assets.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /scripts/drawer_open/10000/run_PEBBLE.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE.py env=metaworld_drawer-open-v2 experiment=PEBBLE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=100 max_feedback=10000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 teacher_beta=-1 teacher_gamma=1 teacher_eps_mistake=0 teacher_eps_skip=0 teacher_eps_equal=0 seed=$seed 3 | done -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mujoco/testing/assets/model_with_ball_joints.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /scripts/drawer_open/10000/run_PEBBLE_rune.sh: -------------------------------------------------------------------------------- 1 | for seed in 12345 23451 34512 45123 51234; do 2 | python train_PEBBLE_explore.py env=metaworld_drawer-open-v2 experiment=PEBBLE-RUNE date=$1 agent.params.actor_lr=0.0003 agent.params.critic_lr=0.0003 gradient_update=1 activation=tanh num_train_steps=1000000 agent.params.batch_size=512 double_q_critic.params.hidden_dim=256 double_q_critic.params.hidden_depth=3 diag_gaussian_actor.params.hidden_dim=256 diag_gaussian_actor.params.hidden_depth=3 reward_update=10 reward_batch=100 max_feedback=10000 num_unsup_steps=9000 feed_type=1 large_batch=10 num_interact=10000 teacher_beta=-1 teacher_gamma=1 teacher_eps_mistake=0 teacher_eps_skip=0 teacher_eps_equal=0 seed=$seed 3 | done -------------------------------------------------------------------------------- /stable_baselines3/__init__.py: -------------------------------------------------------------------------------- 1 | import os 2 | 3 | from stable_baselines3.a2c import A2C 4 | from stable_baselines3.ddpg import DDPG 5 | from stable_baselines3.dqn import DQN 6 | from stable_baselines3.her import HER 7 | from stable_baselines3.ppo import PPO 8 | from stable_baselines3.sac import SAC 9 | from stable_baselines3.td3 import TD3 10 | from stable_baselines3.ppo import PPO_CUSTOM 11 | from stable_baselines3.ppo import PPO_REWARD 12 | from stable_baselines3.ppo import PPO_REWARD_EXPLORE 13 | 14 | # Read version from file 15 | version_file = os.path.join(os.path.dirname(__file__), "version.txt") 16 | with open(version_file, "r") as file_handler: 17 | __version__ = file_handler.read().strip() 18 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/utils/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/entities/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/locomotion/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/_render/pyopengl/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/autowrap/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/locomotion/mocap/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mujoco/testing/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/manipulation/shared/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/rl/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """RL interface code.""" 17 | -------------------------------------------------------------------------------- /stable_baselines3/her/goal_selection_strategy.py: -------------------------------------------------------------------------------- 1 | from enum import Enum 2 | 3 | 4 | class GoalSelectionStrategy(Enum): 5 | """ 6 | The strategies for selecting new goals when 7 | creating artificial transitions. 8 | """ 9 | 10 | # Select a goal that was achieved 11 | # after the current step, in the same episode 12 | FUTURE = 0 13 | # Select the goal that was achieved 14 | # at the end of the episode 15 | FINAL = 1 16 | # Select a goal that was achieved in the episode 17 | EPISODE = 2 18 | 19 | 20 | # For convenience 21 | # that way, we can use string to select a strategy 22 | KEY_TO_GOAL_STRATEGY = { 23 | "future": GoalSelectionStrategy.FUTURE, 24 | "final": GoalSelectionStrategy.FINAL, 25 | "episode": GoalSelectionStrategy.EPISODE, 26 | } 27 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/suite/utils/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Utility functions used in the control suite.""" 17 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/entities/manipulators/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Composer entities corresponding to robots.""" 17 | 18 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/locomotion/tasks/reference_pose/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Reference pose tasks in the Locomotion library.""" 16 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/suite/wrappers/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Environment wrappers used to extend or modify environment behaviour.""" 17 | -------------------------------------------------------------------------------- /config/train.yaml: -------------------------------------------------------------------------------- 1 | defaults: 2 | - agent: sac 3 | 4 | #env 5 | env: dog_stand 6 | 7 | # Basic setup 8 | experiment: sac 9 | device: cuda 10 | seed: 1 11 | 12 | # training 13 | num_train_steps: 1e6 14 | replay_buffer_capacity: ${num_train_steps} 15 | num_seed_steps: 5000 16 | eval_frequency: 10000 17 | num_eval_episodes: 10 18 | 19 | # unsupervise 20 | num_unsup_steps: 0 21 | topK: 5 22 | reset_update: 100 23 | 24 | # logger 25 | log_frequency: 10000 26 | log_save_tb: true 27 | 28 | # video recorder 29 | save_video: false 30 | save_model: true 31 | 32 | # hydra configuration 33 | hydra: 34 | name: ${env} 35 | run: 36 | dir: ./exp/${env}/H${diag_gaussian_actor.params.hidden_dim}_L${diag_gaussian_actor.params.hidden_depth}_B${agent.params.batch_size}_tau${agent.params.critic_tau}/${agent.name}_unsup${num_unsup_steps}_topk${topK}_${experiment}_lr${agent.params.actor_lr}_temp${agent.params.init_temperature}_seed${seed} 37 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/locomotion/props/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Props for Locomotion tasks.""" 16 | 17 | from dm_control.locomotion.props.target_sphere import TargetSphere 18 | from dm_control.locomotion.props.target_sphere import TargetSphereTwoTouch 19 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/suite/lqr.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/composer/constants.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Module defining constant values for Composer.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | SENSOR_SITES_GROUP = 4 23 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/entities/manipulators/kinova/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Composer models of Kinova robots.""" 17 | 18 | from dm_control.entities.manipulators.kinova.jaco_arm import JacoArm 19 | from dm_control.entities.manipulators.kinova.jaco_hand import JacoHand 20 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/locomotion/tasks/reference_pose/datasets.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Datasets for reference pose tasks. 16 | """ 17 | 18 | from dm_control.locomotion.tasks.reference_pose import cmu_subsets 19 | 20 | 21 | DATASETS = dict() 22 | DATASETS.update(cmu_subsets.CMU_SUBSETS_DICT) 23 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/composer/initializers/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Tools for initializing the states of Composer environments.""" 17 | 18 | from dm_control.composer.initializers.prop_initializer import PropPlacer 19 | from dm_control.composer.initializers.tcp_initializer import ToolCenterPointInitializer 20 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/manipulation/shared/tags.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """String constants used to annotate task constructors.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | FEATURES = 'features' 23 | VISION = 'vision' 24 | 25 | EASY = 'easy' 26 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mjcf/test_assets/model_with_assets.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/locomotion/examples/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Walkers for Locomotion tasks.""" 16 | 17 | from dm_control.locomotion.walkers.cmu_humanoid import CMUHumanoid 18 | from dm_control.locomotion.walkers.cmu_humanoid import CMUHumanoidPositionControlled 19 | from dm_control.locomotion.walkers.cmu_humanoid import CMUHumanoidPositionControlledV2020 20 | -------------------------------------------------------------------------------- /custom_dmcontrol/CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | # How to Contribute 2 | 3 | We'd love to accept your patches and contributions to this project. There are 4 | just a few small guidelines you need to follow. 5 | 6 | ## Contributor License Agreement 7 | 8 | Contributions to this project must be accompanied by a Contributor License 9 | Agreement. You (or your employer) retain the copyright to your contribution, 10 | this simply gives us permission to use and redistribute your contributions as 11 | part of the project. Head over to to see 12 | your current agreements on file or to sign a new one. 13 | 14 | You generally only need to submit a CLA once, so if you've already submitted one 15 | (even if it was for a different project), you probably don't need to do it 16 | again. 17 | 18 | ## Code reviews 19 | 20 | All submissions, including submissions by project members, require review. We 21 | use GitHub pull requests for this purpose. Consult 22 | [GitHub Help](https://help.github.com/articles/about-pull-requests/) for more 23 | information on using pull requests. 24 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/mujoco/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Mujoco implementations of base classes.""" 17 | 18 | from dm_control.mujoco.engine import action_spec 19 | 20 | from dm_control.mujoco.engine import Camera 21 | from dm_control.mujoco.engine import MovableCamera 22 | from dm_control.mujoco.engine import Physics 23 | from dm_control.mujoco.engine import TextOverlay 24 | -------------------------------------------------------------------------------- /custom_dmc2gym/README.md: -------------------------------------------------------------------------------- 1 | # OpenAI Gym wrapper for the DeepMind Control Suite. 2 | A lightweight wrapper around the DeepMind Control Suite that provides the standard OpenAI Gym interface. The wrapper allows to specify the following: 3 | * Reliable random seed initialization that will ensure deterministic behaviour. 4 | * Setting ```from_pixels=True``` converts proprioceptive observations into image-based. In additional, you can choose the image dimensions, by setting ```height``` and ```width```. 5 | * Action space normalization bound each action's coordinate into the ```[-1, 1]``` range. 6 | * Setting ```frame_skip``` argument lets to perform action repeat. 7 | 8 | 9 | ### Instalation 10 | ``` 11 | pip install git+git://github.com/denisyarats/dmc2gym.git 12 | ``` 13 | 14 | ### Usage 15 | ```python 16 | import dmc2gym 17 | 18 | env = dmc2gym.make(domain_name='point_mass', task_name='easy', seed=1) 19 | 20 | done = False 21 | obs = env.reset() 22 | while not done: 23 | action = env.action_space.sample() 24 | obs, reward, done, info = env.step(action) 25 | ``` 26 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/entities/props/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Composer entities corresponding to props. 17 | 18 | A "prop" is typically a non-actuated entity representing an object in the world. 19 | """ 20 | 21 | from dm_control.entities.props.duplo import Duplo 22 | from dm_control.entities.props.position_detector import PositionDetector 23 | from dm_control.entities.props.primitive import Primitive 24 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2021 rll-research 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/locomotion/examples/explore.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Simple script to launch viewer with an example environment.""" 17 | 18 | from absl import app 19 | 20 | from dm_control import viewer 21 | from dm_control.locomotion.examples import basic_cmu_2019 22 | 23 | 24 | def main(unused_argv): 25 | viewer.launch(environment_loader=basic_cmu_2019.cmu_humanoid_run_gaps) 26 | 27 | if __name__ == '__main__': 28 | app.run(main) 29 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/locomotion/soccer/team.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Define teams and players participating in a match.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | import collections 23 | 24 | import enum 25 | 26 | 27 | class Team(enum.Enum): 28 | HOME = 0 29 | AWAY = 1 30 | 31 | 32 | Player = collections.namedtuple('Player', ['team', 'walker']) 33 | -------------------------------------------------------------------------------- /custom_dmc2gym/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2020 Denis Yarats 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/manipulation/shared/constants.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Global constants used in manipulation tasks.""" 17 | 18 | CONTROL_TIMESTEP = 0.04 # Interval between agent actions, in seconds. 19 | 20 | # Predefined RGBA values 21 | RED = (1., 0., 0., 0.3) 22 | GREEN = (0., 1., 0., 0.3) 23 | BLUE = (0., 0., 1., 0.3) 24 | CYAN = (0., 1., 1., 0.3) 25 | MAGENTA = (1., 0., 1., 0.3) 26 | YELLOW = (1., 1., 0., 0.3) 27 | 28 | TASK_SITE_GROUP = 3 # Invisible group for task-related sites. 29 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/suite/pendulum.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/composer/initializer.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Module defining the abstract initializer.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | import abc 23 | 24 | import six 25 | 26 | 27 | @six.add_metaclass(abc.ABCMeta) 28 | class Initializer(object): 29 | """The abstract base class for an initializer.""" 30 | 31 | @abc.abstractmethod 32 | def __call__(self, physics, random_state): 33 | raise NotImplementedError 34 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/suite/common/materials.xml: -------------------------------------------------------------------------------- 1 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /config/agent/sac.yaml: -------------------------------------------------------------------------------- 1 | agent: 2 | name: sac 3 | class: agent.sac.SACAgent 4 | params: 5 | obs_dim: ??? # to be specified later 6 | action_dim: ??? # to be specified later 7 | action_range: ??? # to be specified later 8 | device: ${device} 9 | critic_cfg: ${double_q_critic} 10 | actor_cfg: ${diag_gaussian_actor} 11 | discount: 0.99 12 | init_temperature: 0.1 13 | alpha_lr: 1e-4 14 | alpha_betas: [0.9, 0.999] 15 | actor_lr: 1e-4 16 | actor_betas: [0.9, 0.999] 17 | actor_update_frequency: 1 18 | critic_lr: 1e-4 19 | critic_betas: [0.9, 0.999] 20 | critic_tau: 0.005 21 | critic_target_update_frequency: 2 22 | batch_size: 1024 # 1024 for Walker, 512 for Meta-world 23 | learnable_temperature: true 24 | 25 | double_q_critic: 26 | class: agent.critic.DoubleQCritic 27 | params: 28 | obs_dim: ${agent.params.obs_dim} 29 | action_dim: ${agent.params.action_dim} 30 | hidden_dim: 1024 31 | hidden_depth: 2 32 | 33 | diag_gaussian_actor: 34 | class: agent.actor.DiagGaussianActor 35 | params: 36 | obs_dim: ${agent.params.obs_dim} 37 | action_dim: ${agent.params.action_dim} 38 | hidden_depth: 2 39 | hidden_dim: 1024 40 | log_std_bounds: [-5, 2] 41 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/locomotion/walkers/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Walkers for Locomotion tasks.""" 16 | 17 | from dm_control.locomotion.walkers.ant import Ant 18 | from dm_control.locomotion.walkers.cmu_humanoid import CMUHumanoidPositionControlled 19 | from dm_control.locomotion.walkers.cmu_humanoid import CMUHumanoidPositionControlledV2020 20 | from dm_control.locomotion.walkers.jumping_ball import JumpingBallWithHead 21 | from dm_control.locomotion.walkers.jumping_ball import RollingBallWithHead 22 | from dm_control.locomotion.walkers.rodent import Rat 23 | -------------------------------------------------------------------------------- /config/agent/sac_metaworld.yaml: -------------------------------------------------------------------------------- 1 | agent: 2 | name: sac_metaworld 3 | class: agent.sac.SACAgent 4 | params: 5 | obs_dim: ??? # to be specified later 6 | action_dim: ??? # to be specified later 7 | action_range: ??? # to be specified later 8 | device: ${device} 9 | critic_cfg: ${double_q_critic} 10 | actor_cfg: ${diag_gaussian_actor} 11 | discount: 0.99 12 | init_temperature: 0.1 13 | alpha_lr: 1e-4 14 | alpha_betas: [0.9, 0.999] 15 | actor_lr: 1e-4 16 | actor_betas: [0.9, 0.999] 17 | actor_update_frequency: 1 18 | critic_lr: 1e-4 19 | critic_betas: [0.9, 0.999] 20 | critic_tau: 0.005 21 | critic_target_update_frequency: 2 22 | batch_size: 512 # 1024 for Walker, 512 for Meta-world 23 | learnable_temperature: true 24 | 25 | double_q_critic: 26 | class: agent.critic.DoubleQCritic 27 | params: 28 | obs_dim: ${agent.params.obs_dim} 29 | action_dim: ${agent.params.action_dim} 30 | hidden_dim: 256 31 | hidden_depth: 3 32 | 33 | diag_gaussian_actor: 34 | class: agent.actor.DiagGaussianActor 35 | params: 36 | obs_dim: ${agent.params.obs_dim} 37 | action_dim: ${agent.params.action_dim} 38 | hidden_depth: 3 39 | hidden_dim: 256 40 | log_std_bounds: [-5, 2] 41 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/_render/constants.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """String constants for the rendering module.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | # Name of the environment variable that selects a renderer platform. 23 | MUJOCO_GL = 'MUJOCO_GL' 24 | 25 | # Name of the environment variable that selects a platform for PyOpenGL. 26 | PYOPENGL_PLATFORM = 'PYOPENGL_PLATFORM' 27 | 28 | # Renderer platform specifiers. 29 | OSMESA = 'osmesa' 30 | GLFW = 'glfw' 31 | EGL = 'egl' 32 | -------------------------------------------------------------------------------- /custom_dmcontrol/dm_control/composer/observation/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Multi-rate observation and buffering framework for Composer environments.""" 17 | 18 | from dm_control.composer.observation import observable 19 | from dm_control.composer.observation.obs_buffer import Buffer 20 | from dm_control.composer.observation.updater import DEFAULT_BUFFER_SIZE 21 | from dm_control.composer.observation.updater import DEFAULT_DELAY 22 | from dm_control.composer.observation.updater import DEFAULT_UPDATE_INTERVAL 23 | from dm_control.composer.observation.updater import Updater 24 | --------------------------------------------------------------------------------