├── .DS_Store ├── .idea ├── dictionaries │ └── houzhimin.xml ├── inspectionProfiles │ └── Project_Default.xml ├── misc.xml ├── modules.xml ├── runConfigurations │ ├── env.xml │ ├── run_this.xml │ └── run_triple_main.xml ├── vcs.xml ├── vrep_peg_in_hole.iml └── workspace.xml ├── README.md ├── code ├── __init__.py ├── __pycache__ │ └── __init__.cpython-36.pyc ├── methods │ ├── Average_TD3.py │ ├── DDPG.py │ ├── HRLACOP.py │ ├── TD3.py │ ├── __init__.py │ └── __pycache__ │ │ ├── ATD3.cpython-36.pyc │ │ ├── ATD3_IM.cpython-36.pyc │ │ ├── ATD3_RNN.cpython-36.pyc │ │ ├── Average_TD3.cpython-36.pyc │ │ ├── DDPG.cpython-36.pyc │ │ ├── DDPG_RNN.cpython-36.pyc │ │ ├── HRLACOP.cpython-36.pyc │ │ ├── SAAC.cpython-36.pyc │ │ ├── SAC.cpython-36.pyc │ │ ├── TD3.cpython-36.pyc │ │ ├── TD3_RNN.cpython-36.pyc │ │ └── __init__.cpython-36.pyc └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── model.cpython-36.pyc │ ├── solver.cpython-36.pyc │ ├── solver_gait_rewards.cpython-36.pyc │ └── utils.cpython-36.pyc │ ├── model.py │ ├── solver.py │ └── utils.py ├── envs ├── __pycache__ │ ├── env.cpython-36.pyc │ ├── env.cpython-37.pyc │ └── vrepenv.cpython-36.pyc ├── env.py ├── protos │ ├── .Irb4600-40.cache │ ├── Irb4600-40.proto │ └── icons │ │ └── Irb4600-40.png └── worlds │ ├── .Double_peg_hole.wbproj │ ├── .Single_f05_c05.wbproj │ ├── .Single_f05_c1.wbproj │ ├── .Single_f1_c1.wbproj │ ├── .Single_peg_hole.wbproj │ ├── .Single_peg_hole_f05_c1.wbproj │ ├── .Single_peg_hole_f1_c1.wbproj │ ├── .Triple_f05_c05.wbproj │ ├── .Triple_peg_hole.wbproj │ ├── .Triple_peg_hole_f05_c1.wbproj │ ├── .Triple_peg_hole_f1_c1.wbproj │ ├── .Triple_peg_hole_small_friction.wbproj │ ├── Double_f0.5_c0d5.wbt │ ├── Double_f0.5_c1.wbt │ ├── Double_f0.5_c1d5.wbt │ ├── Double_f0_c0d5.wbt │ ├── Double_f0_c1.wbt │ ├── Double_f0_c1d5.wbt │ ├── Double_f1_c0d5.wbt │ ├── Double_f1_c1.wbt │ ├── Double_f1_c1d5.wbt │ ├── Module │ ├── Double.SLDPRT │ ├── Single.SLDPRT │ 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