├── .gitignore ├── LICENSE ├── Makefile ├── conftest.py ├── envs ├── __init__.py ├── customfetch │ ├── __init__.py │ ├── custom_fetch.py │ ├── custom_hand.py │ ├── epsilon_wrapper.py │ ├── stls │ │ ├── .get │ │ ├── fetch │ │ │ ├── base_link_collision.stl │ │ │ ├── bellows_link_collision.stl │ │ │ ├── elbow_flex_link_collision.stl │ │ │ ├── estop_link.stl │ │ │ ├── forearm_roll_link_collision.stl │ │ │ ├── gripper_link.stl │ │ │ ├── head_pan_link_collision.stl │ │ │ ├── head_tilt_link_collision.stl │ │ │ ├── l_wheel_link_collision.stl │ │ │ ├── laser_link.stl │ │ │ ├── r_wheel_link_collision.stl │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ ├── torso_fixed_link.stl │ │ │ ├── torso_lift_link_collision.stl │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ ├── wrist_flex_link_collision.stl │ │ │ └── wrist_roll_link_collision.stl │ │ └── hand │ │ │ ├── F1.stl │ │ │ ├── F2.stl │ │ │ ├── F3.stl │ │ │ ├── TH1_z.stl │ │ │ ├── TH2_z.stl │ │ │ ├── TH3_z.stl │ │ │ ├── forearm_electric.stl │ │ │ ├── forearm_electric_cvx.stl │ │ │ ├── knuckle.stl │ │ │ ├── lfmetacarpal.stl │ │ │ ├── palm.stl │ │ │ └── wrist.stl │ ├── textures │ │ ├── block.png │ │ └── block_hidden.png │ └── xmls │ │ ├── CustomPP.xml │ │ ├── CustomPush.xml │ │ ├── CustomSlide.xml │ │ ├── FetchPush1.xml │ │ ├── FetchPush2.xml │ │ ├── FetchPush3.xml │ │ ├── FetchPush4.xml │ │ ├── FetchPush5.xml │ │ ├── FetchPush6.xml │ │ ├── FetchSlide1.xml │ │ ├── FetchSlide2 2 robot.xml │ │ ├── FetchSlide2 copy.xml │ │ ├── FetchSlide2.xml │ │ ├── FetchSlide3.xml │ │ ├── FetchSlide4.xml │ │ ├── FetchSlide5.xml │ │ ├── FetchSlide6.xml │ │ ├── FetchStack1.xml │ │ ├── FetchStack2.xml │ │ ├── FetchStack3.xml │ │ ├── FetchStack4.xml │ │ ├── FetchStack5.xml │ │ ├── FetchStack6.xml │ │ ├── PP.xml │ │ ├── Push.xml │ │ ├── Slide.xml │ │ ├── robot.xml │ │ ├── robot2.xml │ │ ├── robot_hook.xml │ │ ├── robot_opponent.xml │ │ ├── shared.xml │ │ ├── shared_2robot.xml │ │ ├── shared_all.xml │ │ ├── shared_blackbot.xml │ │ └── sweep_all.xml ├── d4rl │ └── get_datasets.py ├── goalgan │ ├── __init__.py │ └── ant_maze │ │ ├── __init__.py │ │ ├── ant.py │ │ ├── ant_maze_env.py │ │ ├── assets │ │ └── ant.xml │ │ ├── create_maze_env.py │ │ ├── maze_env.py │ │ └── maze_env_utils.py ├── goalgridworld │ ├── __init__.py │ ├── goal_grid.py │ ├── goalgrid_demo.py │ └── grid_samples │ │ ├── 2_room_9x9.txt │ │ ├── 2_room_9x9_outerwalls.txt │ │ ├── 2_room_9x9_wideDoor.txt │ │ ├── 4_room_13x13_outerwalls.txt │ │ ├── kontrived_room.txt │ │ ├── kontrived_room_agent_start.txt │ │ ├── kontrived_room_goal.txt │ │ └── room_5x5_empty.txt ├── robosuite │ ├── __init__.py │ └── sawyer.py └── sibrivalry │ ├── __init__.py │ ├── ant_maze │ ├── __init__.py │ ├── ant.py │ ├── ant_agents.py │ ├── ant_maze_env.py │ ├── assets │ │ └── ant.xml │ ├── create_maze_env.py │ ├── maze_env.py │ ├── maze_env_utils.py │ └── my_maze.py │ └── toy_maze │ ├── __init__.py │ ├── maze_env.py │ └── mazes.py ├── experiments ├── batch_rl │ ├── collect_policies.py │ ├── policy_to_buffer.py │ ├── readme.md │ ├── sac_on_d4rl.txt │ └── train_batchrl.py ├── benchmarks │ ├── her.txt │ ├── mujoco.txt │ ├── plots │ │ ├── mujoco_ant.png │ │ ├── mujoco_halfcheetah.png │ │ ├── mujoco_hopper.png │ │ ├── mujoco_humanoid.png │ │ ├── mujoco_walker.png │ │ ├── robotics_fetch_pickplace.png │ │ ├── robotics_fetch_push.png │ │ ├── robotics_fetch_reach.png │ │ ├── robotics_fetch_slide.png │ │ ├── robotics_hand_block.png │ │ ├── robotics_hand_egg.png │ │ └── robotics_hand_pen.png │ ├── readme.md │ ├── train_her.py │ └── train_mujoco.py ├── cmd.sh ├── coda │ ├── __init__.py │ ├── coda_generic.py │ ├── coda_module.py │ ├── pong │ │ ├── RoboschoolPong_v0_2017may1.py │ │ ├── __init__.py │ │ ├── collect_real_data.py │ │ ├── make_coda_data.py │ │ ├── make_dyna_data.py │ │ ├── make_latex_table.py │ │ ├── make_mbpo_data.py │ │ ├── models_outdoor │ │ │ └── stadium │ │ │ │ ├── pong1.obj │ │ │ │ ├── stadium.mtl │ │ │ │ ├── stadium1.obj │ │ │ │ └── stadium_grass.jpg │ │ ├── models_robot │ │ │ └── roboschool_pong.xml │ │ ├── pong_env.py │ │ ├── pong_experiment.py │ │ └── train_batchrl_agent.py │ ├── readme.md │ ├── sandy_module.py │ └── train_coda.py ├── mega │ ├── Visualization.ipynb │ ├── __init__.py │ ├── commands_for_experiments.txt │ ├── hparam_search │ │ ├── search0.txt │ │ ├── search0_results_0.985_smoothing.png │ │ ├── search1.txt │ │ ├── search1_results_0.985_smoothing.png │ │ ├── search1_top_10_commands.txt │ │ └── search2.txt │ ├── make_env.py │ ├── readme.md │ └── train_mega.py └── train.py ├── mrl ├── __init__.py ├── agent_base.py ├── algorithms │ ├── continuous_off_policy.py │ ├── discrete_off_policy.py │ ├── fixed_horizon_DDPG.py │ └── random_ensemble_DPG.py ├── configs │ ├── continuous_off_policy.py │ ├── discrete_off_policy.py │ └── make_continuous_agents.py ├── import_all.py ├── modules │ ├── action_noise.py │ ├── curiosity.py │ ├── density.py │ ├── env.py │ ├── eval.py │ ├── goal_modules.py │ ├── goal_reward.py │ ├── logging.py │ ├── model.py │ ├── normalizer.py │ ├── success_prediction.py │ └── train.py ├── replays │ ├── core │ │ ├── replay_buffer.py │ │ └── shared_buffer.py │ ├── old_replay_buffer.py │ ├── online_her_buffer.py │ └── prioritized_replay.py └── utils │ ├── misc.py │ ├── networks.py │ ├── random_process.py │ ├── realnvp.py │ ├── schedule.py │ ├── vae.py │ └── vec_env │ ├── __init__.py │ ├── base_vec_env.py │ ├── dummy_vec_env.py │ ├── subproc_vec_env.py │ ├── vec_frame_stack.py │ └── vec_normalize.py ├── readme.md ├── requirements.txt ├── results ├── example │ ├── confs │ │ ├── block_full.conf │ │ ├── pickplace.conf │ │ └── shared.conf │ ├── gather_sources.py │ ├── plot_bulk.py │ └── sources │ │ └── pickplace │ │ └── plot.conf ├── exportTB.py ├── gather_sources.py ├── plot_bulk.py ├── plot_tensorboard.py └── readme.md └── tests ├── test_agent_ddpg.py ├── test_agent_sac.py └── test_agent_td3.py /.gitignore: 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