├── .DS_Store ├── README.md ├── assets ├── .DS_Store ├── cover.png ├── real.png ├── sim.png ├── v1.gif ├── v1_f.gif ├── v2.gif ├── v2_f.gif ├── v3.gif ├── v3_f.gif ├── v4.gif └── v4_f.gif └── peg-in-hole-sfn ├── .DS_Store ├── ._test.py ├── ._test_seg.py ├── __pycache__ ├── dataloader.cpython-36.pyc └── dataloader.cpython-38.pyc ├── algos ├── .DS_Store ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ └── __init__.cpython-38.pyc └── pytorch │ ├── .DS_Store │ ├── a2c │ ├── __pycache__ │ │ ├── a2c.cpython-36.pyc │ │ ├── a2c.cpython-38.pyc │ │ └── core.cpython-36.pyc │ ├── a2c.py │ └── core.py │ ├── a2c_9 │ ├── __pycache__ │ │ ├── a2c.cpython-36.pyc │ │ ├── a2c.cpython-38.pyc │ │ ├── core.cpython-36.pyc │ │ └── visualize_a2c.cpython-36.pyc │ ├── a2c.py │ ├── core.py │ └── visualize_a2c.py │ ├── a2c_fusion │ ├── __pycache__ │ │ ├── a2c.cpython-36.pyc │ │ ├── a2c.cpython-38.pyc │ │ └── core.cpython-36.pyc │ ├── a2c.py │ └── core.py │ ├── a2c_fusion_teacher │ ├── __pycache__ │ │ ├── a2c.cpython-36.pyc │ │ ├── a2c.cpython-38.pyc │ │ └── core.cpython-36.pyc │ ├── a2c.py │ └── core.py │ ├── a2c_rnn │ ├── __pycache__ │ │ ├── a2c.cpython-36.pyc │ │ ├── a2c.cpython-38.pyc │ │ └── core.cpython-36.pyc │ ├── a2c.py │ └── core.py │ ├── a2c_rnn_encoder │ ├── __pycache__ │ │ ├── a2c.cpython-36.pyc │ │ ├── a2c.cpython-38.pyc │ │ └── core.cpython-36.pyc │ ├── a2c.py │ └── core.py │ ├── ddpg │ ├── __pycache__ │ │ ├── core.cpython-36.pyc │ │ └── ddpg.cpython-36.pyc │ ├── core.py │ └── ddpg.py │ ├── fcn │ ├── .DS_Store │ ├── ._seg.py │ ├── __pycache__ │ │ ├── core.cpython-36.pyc │ │ ├── eval_position_10.cpython-36.pyc │ │ ├── fcn8s.cpython-36.pyc │ │ ├── fcn8s_seg.cpython-36.pyc │ │ ├── fcn_pose.cpython-36.pyc │ │ ├── pose.cpython-36.pyc │ │ ├── pose.cpython-38.pyc │ │ ├── pose_6.cpython-36.pyc │ │ ├── pose_6.cpython-38.pyc │ │ ├── pose_7.cpython-36.pyc │ │ ├── pose_8.cpython-36.pyc │ │ ├── position_10.cpython-36.pyc │ │ ├── position_11.cpython-36.pyc │ │ ├── seg.cpython-36.pyc │ │ ├── seg_5.cpython-36.pyc │ │ ├── seg_8.cpython-36.pyc │ │ ├── seg_ur5.cpython-36.pyc │ │ ├── seg_ur5.cpython-38.pyc │ │ ├── seg_ur5_real.cpython-36.pyc │ │ ├── unet.cpython-36.pyc │ │ ├── unet_11.cpython-36.pyc │ │ ├── visualize_pose_7.cpython-36.pyc │ │ ├── visualize_pose_8.cpython-36.pyc │ │ ├── visualize_seg_5.cpython-36.pyc │ │ └── visualize_seg_8.cpython-36.pyc │ ├── eval_position_10.py │ ├── fcn8s.py │ ├── pose.py │ ├── pose_6.py │ ├── pose_7.py │ ├── pose_8.py │ ├── position_10.py │ ├── position_11.py │ ├── seg.py │ ├── seg_5.py │ ├── seg_8.py │ ├── seg_ur5.py │ ├── seg_ur5_real.py │ ├── tmp │ │ └── pose.py │ ├── unet.py │ ├── unet_11.py │ ├── visualize_pose_7.py │ ├── visualize_pose_8.py │ ├── visualize_seg_5.py │ └── visualize_seg_8.py │ ├── ppo │ ├── __pycache__ │ │ ├── core.cpython-36.pyc │ │ └── ppo.cpython-36.pyc │ ├── core.py │ └── ppo.py │ ├── sac │ ├── __pycache__ │ │ ├── core.cpython-36.pyc │ │ └── sac.cpython-36.pyc │ ├── core.py │ └── sac.py │ ├── td3 │ ├── __pycache__ │ │ ├── core.cpython-36.pyc │ │ └── td3.cpython-36.pyc │ ├── core.py │ └── td3.py │ ├── trpo │ ├── __pycache__ │ │ └── trpo.cpython-36.pyc │ └── trpo.py │ └── vpg │ ├── __pycache__ │ ├── core.cpython-36.pyc │ └── vpg.cpython-36.pyc │ ├── core.py │ └── vpg.py ├── experiment_1.py ├── gymEnv ├── .DS_Store ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ └── __init__.cpython-38.pyc └── envs │ ├── .DS_Store │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-38.pyc │ ├── peg_in_hole_fusion.cpython-36.pyc │ ├── peg_in_hole_fusion_teacher.cpython-36.pyc │ ├── peg_in_hole_fusion_teacher_1.cpython-36.pyc │ ├── peg_in_hole_test.cpython-36.pyc │ ├── peg_in_hole_v0.cpython-36.pyc │ ├── peg_in_hole_v0.cpython-38.pyc │ ├── peg_in_hole_v1.cpython-36.pyc │ ├── peg_in_hole_v10.cpython-36.pyc │ ├── peg_in_hole_v11.cpython-36.pyc │ ├── peg_in_hole_v2.cpython-36.pyc │ ├── peg_in_hole_v3.cpython-36.pyc │ ├── peg_in_hole_v5.cpython-36.pyc │ ├── peg_in_hole_v6.cpython-36.pyc │ ├── peg_in_hole_v7.cpython-36.pyc │ ├── peg_in_hole_v8.cpython-36.pyc │ ├── peg_in_hole_v9.cpython-36.pyc │ └── test_camera_intrinsic.cpython-36.pyc │ ├── complex │ ├── franka_panda │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.obj │ │ │ │ ├── link0.obj │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.mtl │ │ │ │ ├── link6.obj │ │ │ │ └── link7.obj │ │ │ └── visual │ │ │ │ ├── colors.png │ │ │ │ ├── finger.mtl │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.mtl │ │ │ │ ├── hand.obj │ │ │ │ ├── link1.mtl │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.mtl │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.mtl │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.mtl │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.mtl │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.mtl │ │ │ │ ├── link6.obj │ │ │ │ └── visualShapeBench.json_0.json │ │ └── panda.urdf │ ├── square-concave1 │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-concave2 │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-convex1 │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-convex2 │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-convex3 │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-convex4 │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-diamond │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-fillet1 │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-fillet2 │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-fillet3 │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-fillet4 │ │ ├── .DS_Store │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-hexagon │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-pentagon │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-square │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ ├── square-trapezoid │ │ ├── base │ │ │ ├── base.mtl │ │ │ ├── base.obj │ │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ │ ├── .DS_Store │ │ │ ├── ._peg.urdf │ │ │ ├── peg.mtl │ │ │ ├── peg.obj │ │ │ ├── peg.urdf │ │ │ └── peg_test.urdf │ └── square-triangle │ │ ├── base │ │ ├── base.mtl │ │ ├── base.obj │ │ └── base.urdf │ │ ├── mask.mtl │ │ ├── mask.obj │ │ └── peg │ │ ├── .DS_Store │ │ ├── ._peg.urdf │ │ ├── peg.mtl │ │ ├── peg.obj │ │ ├── peg.urdf │ │ └── peg_test.urdf │ └── peg_in_hole_v11.py ├── test.py ├── testEnv.py ├── test_pose_gui_8.py ├── test_pose_position_gui_11.py ├── train_pose_8.py ├── train_position_11.py ├── utils ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-38.pyc │ ├── logx.cpython-36.pyc │ ├── logx.cpython-38.pyc │ ├── mpi_pytorch.cpython-36.pyc │ ├── mpi_tf.cpython-36.pyc │ ├── mpi_tools.cpython-36.pyc │ ├── pck_acc.cpython-36.pyc │ ├── pid_control.cpython-36.pyc │ ├── run_utils.cpython-36.pyc │ ├── serialization_utils.cpython-36.pyc │ ├── user_config.cpython-36.pyc │ └── utils.cpython-36.pyc ├── logx.py ├── mpi_pytorch.py ├── mpi_tf.py ├── mpi_tools.py ├── pck_acc.py ├── pid_control.py ├── plot.py ├── run_entrypoint.py ├── run_utils.py ├── serialization_utils.py ├── user_config.py ├── utils.py └── vec_env │ ├── __pycache__ │ ├── subproc_vec_env.cpython-36.pyc │ ├── 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