├── .gitignore ├── README.md ├── conda_env.yml ├── polytask ├── agent │ ├── bc.py │ ├── bc_with_gpt.py │ ├── distill.py │ ├── drqv2.py │ ├── drqv2_multitask.py │ └── networks │ │ ├── distral_continuous.py │ │ ├── encoder.py │ │ ├── mlp.py │ │ ├── pcgrad.py │ │ └── progressive_net.py ├── cfgs │ ├── agent │ │ ├── bc.yaml │ │ ├── distill.yaml │ │ └── drqv2.yaml │ ├── config.yaml │ ├── config_distill.yaml │ └── suite │ │ ├── dmc.yaml │ │ ├── dmc_task │ │ ├── cheetah_run.yaml │ │ └── param.yaml │ │ ├── kitchen.yaml │ │ ├── kitchen_task │ │ ├── all.yaml │ │ └── params.yaml │ │ ├── metaworld.yaml │ │ ├── metaworld_task │ │ ├── all_envs_distill.yaml │ │ ├── all_envs_irl.yaml │ │ ├── bin_picking.yaml │ │ ├── button_press.yaml │ │ ├── button_press_topdown.yaml │ │ ├── button_press_topdown_wall.yaml │ │ ├── button_press_wall.yaml │ │ ├── coffee_button.yaml │ │ ├── coffee_pull.yaml │ │ ├── door_open.yaml │ │ ├── door_unlock.yaml │ │ ├── drawer_close.yaml │ │ ├── drawer_open.yaml │ │ ├── easy.yaml │ │ ├── hammer.yaml │ │ ├── hard.yaml │ │ ├── medium.yaml │ │ ├── params.yaml │ │ ├── plate_slide.yaml │ │ ├── plate_slide_back.yaml │ │ ├── plate_slide_back_side.yaml │ │ └── plate_slide_side.yaml │ │ ├── robotgym.yaml │ │ └── robotgym_task │ │ ├── all.yaml │ │ ├── boxopen.yaml │ │ ├── boxopenright.yaml │ │ ├── drawerclose.yaml │ │ ├── drawercloseright.yaml │ │ ├── insertpegblue.yaml │ │ ├── insertpeggreen.yaml │ │ ├── insertpegyellow.yaml │ │ ├── params.yaml │ │ ├── pour2d.yaml │ │ ├── pour2dtop.yaml │ │ └── reach.yaml ├── logger.py ├── replay_buffer.py ├── rewarder.py ├── suite │ ├── dmc.py │ ├── kitchen.py │ ├── local_dm_control_suite │ │ ├── README.md │ │ ├── __init__.py │ │ ├── acrobot.py │ │ ├── acrobot.xml │ │ ├── ball_in_cup.py │ │ ├── ball_in_cup.xml │ │ ├── base.py │ │ ├── cartpole.py │ │ ├── cartpole.xml │ │ ├── cartpole_cart_mass_1.xml │ │ ├── cartpole_cart_mass_10.xml │ │ ├── cartpole_cart_mass_2.xml │ │ ├── cartpole_cart_mass_3.xml │ │ ├── cartpole_cart_mass_4.xml │ │ ├── cartpole_cart_mass_5.xml │ │ ├── cartpole_cart_mass_6.xml │ │ ├── cartpole_cart_mass_7.xml │ │ ├── cartpole_cart_mass_8.xml │ │ ├── cartpole_cart_mass_9.xml │ │ ├── cartpole_pole_mass_1.xml │ │ ├── cartpole_pole_mass_10.xml │ │ ├── cartpole_pole_mass_2.xml │ │ ├── cartpole_pole_mass_3.xml │ │ ├── cartpole_pole_mass_4.xml │ │ ├── cartpole_pole_mass_5.xml │ │ ├── cartpole_pole_mass_6.xml │ │ ├── cartpole_pole_mass_7.xml │ │ ├── cartpole_pole_mass_8.xml │ │ ├── cartpole_pole_mass_9.xml │ │ ├── cheetah.py │ │ ├── cheetah.xml │ │ ├── cheetah_bfoot_len_1.xml │ │ ├── cheetah_bfoot_len_10.xml │ │ ├── cheetah_bfoot_len_2.xml │ │ ├── cheetah_bfoot_len_3.xml │ │ ├── cheetah_bfoot_len_4.xml │ │ ├── cheetah_bfoot_len_5.xml │ │ ├── cheetah_bfoot_len_6.xml │ │ ├── cheetah_bfoot_len_7.xml │ │ ├── cheetah_bfoot_len_8.xml │ │ ├── cheetah_bfoot_len_9.xml │ │ ├── cheetah_foot_pos_1.xml │ │ ├── cheetah_foot_pos_10.xml │ │ ├── cheetah_foot_pos_2.xml │ │ ├── cheetah_foot_pos_3.xml │ │ ├── cheetah_foot_pos_4.xml │ │ ├── cheetah_foot_pos_5.xml │ │ ├── cheetah_foot_pos_6.xml │ │ ├── cheetah_foot_pos_7.xml │ │ ├── cheetah_foot_pos_8.xml │ │ ├── cheetah_foot_pos_9.xml │ │ ├── cheetah_foot_size_1.xml │ │ ├── cheetah_foot_size_10.xml │ │ ├── cheetah_foot_size_2.xml │ │ ├── cheetah_foot_size_3.xml │ │ ├── cheetah_foot_size_4.xml │ │ ├── cheetah_foot_size_5.xml │ │ ├── cheetah_foot_size_6.xml │ │ ├── cheetah_foot_size_7.xml │ │ ├── cheetah_foot_size_8.xml │ │ ├── cheetah_foot_size_9.xml │ │ ├── cheetah_torso_length_1.xml │ │ ├── cheetah_torso_length_10.xml │ │ ├── cheetah_torso_length_2.xml │ │ ├── cheetah_torso_length_3.xml │ │ ├── cheetah_torso_length_4.xml │ │ ├── cheetah_torso_length_5.xml │ │ ├── cheetah_torso_length_6.xml │ │ ├── cheetah_torso_length_7.xml │ │ ├── cheetah_torso_length_8.xml │ │ ├── cheetah_torso_length_9.xml │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── materials.xml │ │ │ ├── materials_white_floor.xml │ │ │ ├── skybox.xml │ │ │ └── visual.xml │ │ ├── demos │ │ │ ├── mocap_demo.py │ │ │ └── zeros.amc │ │ ├── explore.py │ │ ├── finger.py │ │ ├── finger.xml │ │ ├── finger_size_1.xml │ │ ├── finger_size_10.xml │ │ ├── finger_size_2.xml │ │ ├── finger_size_3.xml │ │ ├── finger_size_4.xml │ │ ├── finger_size_5.xml │ │ ├── finger_size_6.xml │ │ ├── finger_size_7.xml │ │ ├── finger_size_8.xml │ │ ├── finger_size_9.xml │ │ ├── fish.py │ │ ├── fish.xml │ │ ├── hopper.py │ │ ├── hopper.xml │ │ ├── humanoid.py │ │ ├── humanoid.xml │ │ ├── humanoid_CMU.py │ │ ├── humanoid_CMU.xml │ │ ├── lqr.py │ │ ├── lqr.xml │ │ ├── lqr_solver.py │ │ ├── manipulator.py │ │ ├── manipulator.xml │ │ ├── pendulum.py │ │ ├── pendulum.xml │ │ ├── point_mass.py │ │ ├── point_mass.xml │ │ ├── quadruped.py │ │ ├── quadruped.xml │ │ ├── reacher.py │ │ ├── reacher.xml │ │ ├── stacker.py │ │ ├── stacker.xml │ │ ├── swimmer.py │ │ ├── swimmer.xml │ │ ├── tests │ │ │ ├── domains_test.py │ │ │ ├── loader_test.py │ │ │ └── lqr_test.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── parse_amc.py │ │ │ ├── parse_amc_test.py │ │ │ ├── randomizers.py │ │ │ └── randomizers_test.py │ │ ├── walker.py │ │ ├── walker.xml │ │ ├── walker_friction_1.xml │ │ ├── walker_friction_10.xml │ │ ├── walker_friction_2.xml │ │ ├── walker_friction_3.xml │ │ ├── walker_friction_4.xml │ │ ├── walker_friction_5.xml │ │ ├── walker_friction_6.xml │ │ ├── walker_friction_7.xml │ │ ├── walker_friction_8.xml │ │ ├── walker_friction_9.xml │ │ ├── walker_len_1.xml │ │ ├── walker_len_10.xml │ │ ├── walker_len_2.xml │ │ ├── walker_len_3.xml │ │ ├── walker_len_4.xml │ │ ├── walker_len_5.xml │ │ ├── walker_len_6.xml │ │ ├── walker_len_7.xml │ │ ├── walker_len_8.xml │ │ ├── walker_len_9.xml │ │ └── wrappers │ │ │ ├── __init__.py │ │ │ ├── action_noise.py │ │ │ ├── action_noise_test.py │ │ │ ├── pixels.py │ │ │ └── pixels_test.py │ ├── metaworld.py │ ├── metaworld_info.py │ └── robotgym.py ├── train.py ├── train_distill.py ├── utils.py └── video.py └── robot_code ├── gym-envs ├── gym_envs │ ├── 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