├── .gitignore ├── CHANGELOG.md ├── LICENSE ├── README.md ├── circle.yml ├── contrib ├── __init__.py └── alexbeloi │ ├── __init__.py │ ├── examples │ ├── __init__.py │ ├── trpois_cartpole.py │ └── vpgis_cartpole.py │ └── is_sampler.py ├── docker ├── Dockerfile ├── gpu_Dockerfile ├── gpu_tf_Dockerfile └── tester_Dockerfile ├── docs ├── Makefile ├── conf.py ├── index.rst └── user │ ├── cluster.rst │ ├── cluster_1.png │ ├── cluster_2.png │ ├── cluster_3.png │ ├── experiments.rst │ ├── gym_integration.rst │ ├── implement_algo_advanced.rst │ ├── implement_algo_basic.rst │ ├── implement_env.rst │ └── installation.rst ├── environment.yml ├── launchers ├── local_test.py └── local_train.py ├── maml_examples └── maml_experiment_vars.py ├── rllab ├── __init__.py ├── algos │ ├── __init__.py │ ├── base.py │ ├── batch_polopt.py │ ├── cem.py │ ├── cma_es.py │ ├── cma_es_lib.py │ ├── ddpg.py │ ├── erwr.py │ ├── nop.py │ ├── npo.py │ ├── ppo.py │ ├── reps.py │ ├── tnpg.py │ ├── trpo.py │ ├── util.py │ └── vpg.py ├── baselines │ ├── __init__.py │ ├── base.py │ ├── gaussian_conv_baseline.py │ ├── gaussian_mlp_baseline.py │ ├── linear_feature_baseline.py │ ├── maml_gaussian_mlp_baseline.py │ └── zero_baseline.py ├── config.py ├── config_personal_template.py ├── core │ ├── __init__.py │ ├── lasagne_helpers.py │ ├── lasagne_layers.py │ ├── lasagne_powered.py │ ├── network.py │ ├── parameterized.py │ └── serializable.py ├── distributions │ ├── __init__.py │ ├── base.py │ ├── bernoulli.py │ ├── categorical.py │ ├── delta.py │ ├── diagonal_gaussian.py │ ├── recurrent_categorical.py │ └── recurrent_diagonal_gaussian.py ├── envs │ ├── __init__.py │ ├── base.py │ ├── box2d │ │ ├── __init__.py │ │ ├── box2d_env.py │ │ ├── box2d_viewer.py │ │ ├── car_parking_env.py │ │ ├── cartpole_env.py │ │ ├── cartpole_swingup_env.py │ │ ├── double_pendulum_env.py │ │ ├── models │ │ │ ├── car_parking.xml │ │ │ ├── car_parking.xml.rb │ │ │ ├── cartpole.xml.mako │ │ │ ├── double_pendulum.xml.mako │ │ │ └── mountain_car.xml.mako │ │ ├── mountain_car_env.py │ │ └── parser │ │ │ ├── __init__.py │ │ │ ├── xml_attr_types.py │ │ │ ├── xml_box2d.py │ │ │ └── xml_types.py │ ├── env_spec.py │ ├── grid_world_env.py │ ├── grid_world_env_rand.py │ ├── gym_env.py │ ├── identification_env.py │ ├── mujoco │ │ ├── ant_env_rand_goal_ring.py │ │ ├── ant_env_rand_goal_ring_contextual.py │ │ └── mujoco_env.py │ ├── noisy_env.py │ ├── normalized_env.py │ ├── occlusion_env.py │ ├── proxy_env.py │ ├── proxy_env1.py │ └── sliding_mem_env.py ├── exploration_strategies │ ├── __init__.py │ ├── base.py │ ├── gaussian_strategy.py │ └── ou_strategy.py ├── misc │ ├── __init__.py │ ├── autoargs.py │ ├── console.py │ ├── ext.py │ ├── instrument.py │ ├── krylov.py │ ├── logger.py │ ├── mako_utils.py │ ├── meta.py │ ├── mujoco_render.py │ ├── nb_utils.py │ ├── overrides.py │ ├── resolve.py │ ├── special.py │ ├── tabulate.py │ ├── tensor_utils.py │ └── viewer2d.py ├── mujoco_py │ ├── .rvmrc │ ├── Gemfile │ ├── Gemfile.lock │ ├── __init__.py │ ├── codegen.rb │ ├── gen_binding.sh │ ├── glfw.py │ ├── mjconstants.py │ ├── mjcore.py │ ├── mjextra.py │ ├── mjlib.py │ ├── mjtypes.py │ ├── mjviewer.py │ └── util.py ├── optimizers │ ├── __init__.py │ ├── conjugate_gradient_optimizer.py │ ├── first_order_optimizer.py │ ├── hessian_free_optimizer.py │ ├── hf.py │ ├── lbfgs_optimizer.py │ ├── minibatch_dataset.py │ └── penalty_lbfgs_optimizer.py ├── plotter │ ├── __init__.py │ └── plotter.py ├── policies │ ├── __init__.py │ ├── base.py │ ├── categorical_conv_policy.py │ ├── categorical_gru_policy.py │ ├── categorical_mlp_policy.py │ ├── deterministic_mlp_policy.py │ ├── gaussian_gru_policy.py │ ├── gaussian_mlp_policy.py │ └── uniform_control_policy.py ├── q_functions │ ├── __init__.py │ ├── base.py │ └── continuous_mlp_q_function.py ├── regressors │ ├── __init__.py │ ├── categorical_mlp_regressor.py │ ├── gaussian_conv_regressor.py │ ├── gaussian_mlp_regressor.py │ └── product_regressor.py ├── sampler │ ├── __init__.py │ ├── base.py │ ├── parallel_sampler.py │ ├── stateful_pool.py │ ├── utils.py │ └── utils_orig.py ├── spaces │ ├── __init__.py │ ├── base.py │ ├── box.py │ ├── discrete.py │ └── product.py └── viskit │ ├── __init__.py │ ├── core.py │ ├── frontend.py │ ├── static │ ├── css │ │ ├── bootstrap.min.css │ │ └── dropdowns-enhancement.css │ └── js │ │ ├── bootstrap.min.js │ │ ├── dropdowns-enhancement.js │ │ ├── jquery-1.10.2.min.js │ │ ├── jquery.loadTemplate-1.5.6.js │ │ └── plotly-latest.min.js │ └── templates │ └── main.html ├── sandbox ├── __init__.py └── rocky │ ├── __init__.py │ └── tf │ ├── __init__.py │ ├── algos │ ├── __init__.py │ ├── batch_maml_polopt.py │ ├── batch_polopt.py │ ├── batch_rl2_polopt.py │ ├── maml_il.py │ ├── maml_npo.py │ ├── maml_trpo.py │ ├── maml_vpg.py │ ├── npg.py │ ├── npo.py │ ├── rl2_il.py │ ├── trpo.py │ ├── vpg.py │ ├── vpg_biasADA.py │ ├── vpg_conv.py │ └── vpg_fullADA.py │ ├── core │ ├── __init__.py │ ├── layers.py │ ├── layers_powered.py │ ├── mil_utils.py │ ├── network.py │ ├── parameterized.py │ └── utils.py │ ├── distributions │ ├── __init__.py │ ├── base.py │ ├── bernoulli.py │ ├── categorical.py │ ├── diagonal_gaussian.py │ ├── recurrent_categorical.py │ └── recurrent_diagonal_gaussian.py │ ├── envs │ ├── __init__.py │ ├── base.py │ ├── parallel_vec_env_executor.py │ └── vec_env_executor.py │ ├── launchers │ ├── __init__.py │ ├── trpo_cartpole.py │ ├── trpo_cartpole_recurrent.py │ └── vpg_cartpole.py │ ├── misc │ ├── __init__.py │ └── tensor_utils.py │ ├── optimizers │ ├── __init__.py │ ├── conjugate_gradient_optimizer.py │ ├── first_order_optimizer.py │ ├── lbfgs_optimizer.py │ ├── penalty_lbfgs_optimizer.py │ └── quad_dist_expert_optimizer.py │ ├── policies │ ├── __init__.py │ ├── base.py │ ├── categorical_gru_policy.py │ ├── categorical_lstm_policy.py │ ├── categorical_mlp_policy.py │ ├── gaussian_gru_policy.py │ ├── gaussian_lstm_policy.py │ ├── gaussian_mlp_policy.py │ ├── maesn_biasonlyadaptivestep.py │ ├── maml_minimal_conv_gauss_mlp_policy.py │ ├── maml_minimal_gauss_mlp_policy.py │ ├── maml_minimal_gauss_mlp_policy_adaptivestep_biastransform.py │ ├── maml_minimal_gauss_mlp_policy_biasonlyadaptivestep_biastransform.py │ ├── minimal_categorical_mlp_policy.py │ ├── minimal_gauss_mlp_policy.py │ ├── temp_tf_future.py │ └── uniform_control_policy.py │ ├── regressors │ ├── __init__.py │ ├── bernoulli_mlp_regressor.py │ ├── categorical_mlp_regressor.py │ ├── deterministic_mlp_regressor.py │ ├── gaussian_mlp_regressor.py │ └── maml_gaussian_mlp_regressor.py │ ├── samplers │ ├── __init__.py │ ├── batch_sampler.py │ ├── vectorized_sampler.py │ └── vectorized_sampler_pr2.py │ └── spaces │ ├── __init__.py │ ├── box.py │ ├── discrete.py │ └── product.py ├── saved_expert_trajs ├── SAC-pushing │ ├── 0.pkl │ ├── 1.pkl │ ├── 2.pkl │ ├── 3.pkl │ ├── 4.pkl │ ├── 5.pkl │ ├── 6.pkl │ ├── 7.pkl │ ├── 8.pkl │ ├── 9.pkl │ └── tasks_pool.pkl ├── ant-quat-v2-10tasks-itr400 │ ├── 0.pkl │ ├── 1.pkl │ ├── 2.pkl │ ├── 3.pkl │ ├── 4.pkl │ ├── 5.pkl │ ├── 6.pkl │ ├── 7.pkl │ ├── 8.pkl │ ├── 9.pkl │ └── tasks_pool.pkl └── imgObs-Sawyer-Push-v4-mpl-50-numDemos5 │ └── Itr_250 │ ├── 0.pkl │ ├── 1.pkl │ ├── 10.pkl │ ├── 11.pkl │ ├── 12.pkl │ ├── 13.pkl │ ├── 14.pkl │ ├── 15.pkl │ ├── 16.pkl │ ├── 17.pkl │ ├── 18.pkl │ ├── 19.pkl │ ├── 2.pkl │ ├── 3.pkl │ ├── 4.pkl │ ├── 5.pkl │ ├── 6.pkl │ ├── 7.pkl │ ├── 8.pkl │ ├── 9.pkl │ └── tasks_pool.pkl ├── scripts ├── __init__.py ├── resume_training.py ├── run_experiment_lite.py ├── setup_ec2_for_rllab.py ├── setup_linux.sh ├── setup_mujoco.sh ├── setup_osx.sh ├── sim_env.py ├── sim_policy.py ├── sim_policy_test.py ├── submit_gym.py └── sync_s3.py ├── setup.py └── vendor └── mujoco_models ├── ant.xml ├── green_ball.xml ├── half_cheetah.xml ├── hopper.xml ├── humanoid.xml ├── inverted_double_pendulum.xml ├── inverted_double_pendulum.xml.mako ├── low_gear_ratio_ant.xml ├── point.xml ├── pusher.xml ├── r7dof_versions └── reacher_7dof.xml ├── reacher.xml ├── 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