├── .gitignore ├── .pre-commit-config.yaml ├── Dockerfile ├── LICENSE ├── README.md ├── __init__.py ├── docker_build.sh ├── docker_run.sh └── modular-rl ├── .gitignore ├── requirements.txt └── src ├── ModularActor.py ├── ModularCritic.py ├── TD3.py ├── TransformerActor.py ├── TransformerCritic.py ├── arguments.py ├── checkpoint.py ├── config.py ├── environments ├── ModularEnv.py ├── cheetah_2_back.py ├── cheetah_2_front.py ├── cheetah_3_back.py ├── cheetah_3_balanced.py ├── cheetah_3_front.py ├── cheetah_4_allback.py ├── cheetah_4_allfront.py ├── cheetah_4_back.py ├── cheetah_4_front.py ├── cheetah_5_back.py ├── cheetah_5_balanced.py ├── cheetah_5_front.py ├── cheetah_6_back.py ├── cheetah_6_front.py ├── cheetah_7_full.py ├── cheetah_walker_humanoids │ ├── cheetah_2_back.xml │ ├── cheetah_2_front.xml │ ├── cheetah_3_back.xml │ ├── cheetah_3_front.xml │ ├── cheetah_4_allback.xml │ ├── cheetah_4_allfront.xml │ ├── cheetah_4_back.xml │ ├── cheetah_4_front.xml │ ├── cheetah_5_balanced.xml │ ├── cheetah_5_front.xml │ ├── cheetah_6_back.xml │ ├── cheetah_7_full.xml │ ├── humanoid_2d_7_left_arm.xml │ ├── humanoid_2d_7_lower_arms.xml │ ├── humanoid_2d_7_right_arm.xml │ ├── humanoid_2d_7_right_leg.xml │ ├── humanoid_2d_8_left_knee.xml │ ├── humanoid_2d_9_full.xml │ ├── walker_2_main.xml │ ├── walker_4_main.xml │ ├── walker_5_main.xml │ └── walker_7_main.xml ├── cheetah_walker_humanoids_hopper │ ├── cheetah_2_back.xml │ ├── cheetah_2_front.xml │ ├── cheetah_3_back.xml │ ├── cheetah_3_front.xml │ ├── cheetah_4_allback.xml │ ├── cheetah_4_allfront.xml │ ├── cheetah_4_back.xml │ ├── cheetah_4_front.xml │ ├── cheetah_5_balanced.xml │ ├── cheetah_5_front.xml │ ├── cheetah_6_back.xml │ ├── cheetah_7_full.xml │ ├── hopper_3.xml │ ├── hopper_4.xml │ ├── hopper_5.xml │ ├── humanoid_2d_7_left_arm.xml │ ├── humanoid_2d_7_lower_arms.xml │ ├── humanoid_2d_7_right_arm.xml │ ├── humanoid_2d_7_right_leg.xml │ ├── humanoid_2d_8_left_knee.xml │ ├── humanoid_2d_9_full.xml │ ├── walker_2_main.xml │ ├── walker_4_main.xml │ ├── walker_5_main.xml │ └── walker_7_main.xml ├── cheetahs │ ├── cheetah_2_back.xml │ ├── cheetah_2_front.xml │ ├── cheetah_3_back.xml │ ├── cheetah_3_front.xml │ ├── cheetah_4_allback.xml │ ├── cheetah_4_allfront.xml │ ├── cheetah_4_back.xml │ ├── cheetah_4_front.xml │ ├── cheetah_5_balanced.xml │ ├── cheetah_5_front.xml │ ├── cheetah_6_back.xml │ └── cheetah_7_full.xml ├── hopper_3.py ├── hopper_4.py ├── hopper_5.py ├── hoppers │ ├── hopper_3.xml │ ├── hopper_4.xml │ └── hopper_5.xml ├── humanoid_2d_7_left_arm.py ├── humanoid_2d_7_left_leg.py ├── humanoid_2d_7_lower_arms.py ├── humanoid_2d_7_right_arm.py ├── humanoid_2d_7_right_leg.py ├── humanoid_2d_8_left_knee.py ├── humanoid_2d_8_right_knee.py ├── humanoid_2d_9_full.py ├── humanoids │ ├── humanoid_2d_7_left_arm.xml │ ├── humanoid_2d_7_lower_arms.xml │ ├── humanoid_2d_7_right_arm.xml │ ├── humanoid_2d_7_right_leg.xml │ ├── humanoid_2d_8_left_knee.xml │ └── humanoid_2d_9_full.xml ├── nervenet_fullcheetah.py ├── nervenet_halfcheetah.py ├── nervenet_halfhumanoid.py ├── nervenet_hopper.py ├── nervenet_ostrich.py ├── walker_2_flipped.py ├── walker_2_main.py ├── walker_3_flipped.py ├── walker_3_main.py ├── walker_4_flipped.py ├── walker_4_main.py ├── walker_5_flipped.py ├── walker_5_main.py ├── walker_6_flipped.py ├── walker_6_main.py ├── walker_7_flipped.py ├── walker_7_main.py ├── walker_humanoids │ ├── humanoid_2d_7_left_arm.xml │ ├── humanoid_2d_7_lower_arms.xml │ ├── humanoid_2d_7_right_arm.xml │ ├── humanoid_2d_7_right_leg.xml │ ├── humanoid_2d_8_left_knee.xml │ ├── humanoid_2d_9_full.xml │ ├── walker_2_main.xml │ ├── walker_4_main.xml │ ├── walker_5_main.xml │ └── walker_7_main.xml ├── walker_humanoids_hopper │ ├── hopper_3.xml │ ├── hopper_4.xml │ ├── hopper_5.xml │ ├── humanoid_2d_7_left_arm.xml │ ├── humanoid_2d_7_lower_arms.xml │ ├── humanoid_2d_7_right_arm.xml │ ├── humanoid_2d_7_right_leg.xml │ ├── humanoid_2d_8_left_knee.xml │ ├── humanoid_2d_9_full.xml │ ├── walker_2_main.xml │ ├── walker_4_main.xml │ ├── walker_5_main.xml │ └── walker_7_main.xml ├── walkers │ ├── walker_2_main.xml │ ├── walker_4_main.xml │ ├── walker_5_main.xml │ └── walker_7_main.xml └── xmls │ ├── cheetah_2_back.xml │ ├── cheetah_2_front.xml │ ├── cheetah_3_balanced.xml │ ├── cheetah_5_back.xml │ ├── cheetah_5_balanced.xml │ ├── cheetah_6_front.xml │ ├── cheetah_7_full.xml │ ├── hopper_3.xml │ ├── hopper_4.xml │ ├── hopper_5.xml │ ├── humanoid_2d_7_left_arm.xml │ ├── humanoid_2d_7_left_leg.xml │ ├── humanoid_2d_7_lower_arms.xml │ ├── humanoid_2d_7_right_arm.xml │ ├── humanoid_2d_7_right_leg.xml │ ├── humanoid_2d_8_left_knee.xml │ ├── humanoid_2d_8_right_knee.xml │ ├── humanoid_2d_9_full.xml │ ├── nervenet_fullcheetah.xml │ ├── nervenet_halfcheetah.xml │ ├── nervenet_halfhumanoid.xml │ ├── nervenet_hopper.xml │ ├── nervenet_ostrich.xml │ ├── walker_2_flipped.xml │ ├── walker_2_main.xml │ ├── walker_3_flipped.xml │ ├── walker_3_main.xml │ ├── walker_4_flipped.xml │ ├── walker_4_main.xml │ ├── walker_5_flipped.xml │ ├── walker_5_main.xml │ ├── walker_6_flipped.xml │ ├── walker_6_main.xml │ ├── walker_7_flipped.xml │ └── walker_7_main.xml ├── main.py ├── misc ├── materials.xml ├── materials_white.xml ├── sans-serif.ttf ├── skybox.xml ├── skybox_white.xml ├── visual.xml ├── visual_copy.xml └── visual_white.xml ├── scripts ├── amorpheus │ ├── cheetah_amorpheus.sh │ ├── cwh_amorpheus.sh │ ├── cwhh_amorpheus.sh │ ├── hoppers_amorpheus.sh │ ├── humanoids_amorpheus.sh │ ├── nervenet_amorpheus.sh │ ├── walkers_amorpheus.sh │ ├── wh_amorpheus.sh │ └── whh_amorpheus.sh ├── amorpheus_no_conditioning │ ├── cheetah_amorpheus_no_conditioning.sh │ ├── cwh_amorpheus_no_conditioning.sh │ ├── cwhh_amorpheus_no_conditioning.sh │ ├── hoppers_amorpheus_no_conditioning.sh │ ├── humanoids_amorpheus_no_conditioning.sh │ ├── nervenet_walkers_amorpheus_no_conditioning.sh │ ├── walkers_amorpheus_no_conditioning.sh │ ├── wh_amorpheus_no_conditioning.sh │ └── 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