├── LICENSES ├── LICENSE_mgda ├── LICENSE_mtan ├── LICENSE_mtrl_lib ├── LICENSE_pytorch_pcgrad └── README.md ├── README.md ├── optimizers ├── __init__.py ├── baselines.py ├── graddrop.py ├── imtl.py ├── mgda.py ├── pcgrad.py ├── rlw.py └── utils.py ├── rl_docker_run.sh ├── rl_experiments ├── Dockerfile ├── docker_build.sh └── mtrl │ ├── LICENSE │ ├── README.md │ ├── config │ ├── __init__.py │ ├── agent │ │ ├── components │ │ │ ├── gradnorm.yaml │ │ │ ├── hipbmdp_actor.yaml │ │ │ ├── hipbmdp_critic.yaml │ │ │ ├── hipbmdp_encoder.yaml │ │ │ ├── hipbmdp_gradnorm.yaml │ │ │ ├── hipbmdp_mask.yaml │ │ │ ├── hipbmdp_multitask.yaml │ │ │ ├── hipbmdp_task_to_encoder_cluster.yaml │ │ │ ├── hipbmdp_transition_model.yaml │ │ │ ├── metaworld_actor.yaml │ │ │ ├── metaworld_critic.yaml │ │ │ ├── metaworld_encoder.yaml │ │ │ ├── metaworld_gradnorm.yaml │ │ │ ├── metaworld_mask.yaml │ │ │ ├── metaworld_multitask.yaml │ │ │ ├── metaworld_task_to_encoder_cluster.yaml │ │ │ └── metaworld_transition_model.yaml │ │ ├── deepmdp.yaml │ │ ├── dirichlet_rlw_from_mtl_state_sac.yaml │ │ ├── distral.yaml │ │ ├── graddrop_from_mtl_state_sac.yaml │ │ ├── gradnorm_deepmdp.yaml │ │ ├── gradnorm_sac.yaml │ │ ├── gradnorm_state_deepmdp.yaml │ │ ├── gradnorm_state_sac.yaml │ │ ├── hipbmdp.yaml │ │ ├── imtl_from_mtl_state_sac.yaml │ │ ├── mgda_from_mtl_state_sac.yaml │ │ ├── normal_rlw_from_mtl_state_sac.yaml │ │ ├── optimizers │ │ │ ├── hipbmdp_actor.yaml │ │ │ ├── hipbmdp_alpha.yaml │ │ │ ├── hipbmdp_critic.yaml │ │ │ ├── hipbmdp_decoder.yaml │ │ │ ├── hipbmdp_encoder.yaml │ │ │ ├── metaworld_actor.yaml │ │ │ ├── metaworld_alpha.yaml │ │ │ ├── metaworld_critic.yaml │ │ │ ├── metaworld_decoder.yaml │ │ │ └── metaworld_encoder.yaml │ │ ├── pcgrad_deepmdp.yaml │ │ ├── pcgrad_sac.yaml │ │ ├── pcgrad_sac_ae.yaml │ │ ├── pcgrad_state_deepmdp.yaml │ │ ├── pcgrad_state_sac.yaml │ │ ├── pcgrad_state_sac_from_wrapper.yaml │ │ ├── rlw_from_mtl_state_sac.yaml │ │ ├── sac.yaml │ │ ├── sac_ae.yaml │ │ ├── state_deepmdp.yaml │ │ └── state_sac.yaml │ ├── config.yaml │ ├── env │ │ ├── dmcontrol-finger-spin-distribution-v0.yaml │ │ ├── metaworld-ml1.yaml │ │ ├── metaworld-mt1.yaml │ │ ├── metaworld-mt10.yaml │ │ └── metaworld-mt50.yaml │ ├── experiment │ │ ├── hipbmdp.yaml │ │ ├── metaworld.yaml │ │ └── mtrl.yaml │ ├── logbook │ │ └── mtrl.yaml │ ├── logger │ │ └── mtrl.yaml │ ├── metrics │ │ ├── all.yaml │ │ ├── hipbmdp.yaml │ │ └── metaworld.yaml │ ├── replay_buffer │ │ └── mtrl.yaml │ └── setup │ │ ├── hipbmdp.yaml │ │ └── metaworld.yaml │ ├── configs_ablations │ ├── run_mtsac_mt10_buffer_rewnorm_1x_buf.sh │ ├── run_mtsac_mt10_buffer_rewnorm_4x_buf.sh │ ├── run_mtsac_mt10_buffer_rewnorm_4x_buf_actor_reg.sh │ ├── run_mtsac_mt10_old_rewnorm_4x_buf.sh │ ├── run_mtsac_mt10_remove_junk.sh │ ├── run_mtsac_mt10_sodhani_et_al.sh │ ├── run_pcgrad_mt10_buffer_rewnorm_1x_buf.sh │ ├── run_pcgrad_mt10_buffer_rewnorm_4x_buf.sh │ ├── run_pcgrad_mt10_buffer_rewnorm_4x_buf_actor_reg.sh │ ├── run_pcgrad_mt10_old_rewnorm_4x_buf.sh │ ├── run_pcgrad_mt10_remove_junk_shared_alpha.sh │ └── run_pcgrad_mt10_sodhani_et_al.sh │ ├── configs_mt10 │ ├── run_dirichlet_rlw_mt10_buffer_rewnorm_4x_buf_def_lr_actor_reg_3em4.sh │ ├── run_graddrop_mt10_buffer_rewnorm_4x_buf_def_lr_actor_reg_1em4.sh │ ├── run_imtl_mt10_buffer_rewnorm_target_clip_4x_buf_def_lr_actor_3em4.sh │ ├── run_mgda_mt10_buffer_rewnorm_4x_buf_def_lr.sh │ ├── run_mtsac_mt10_buffer_rewnorm_4x_buf_actor_reg_3em4.sh │ ├── run_normal_rlw_mt10_buffer_rewnorm_4x_buf_def_lr_actor_reg_3em4.sh │ └── run_pcgrad_mt10_buffer_rewnorm_4x_buf_actor_reg_1em4.sh │ ├── configs_mt50 │ ├── run_dirichlet_rlw_mt50_buffer_rewnorm_4x_buf_def_lr_actor_reg_3em4.sh │ ├── run_graddrop_mt50_buffer_rewnorm_4x_buf_def_lr_actor_reg_1em4.sh │ ├── run_imtl_mt50_buffer_rewnorm_4x_buf_3em5_lr_no_loss_scaling.sh │ ├── run_mgda_mt50_buffer_rewnorm_4x_buf_def_lr.sh │ ├── run_mtsac_mt50_buffer_rewnorm_4x_buf_actor_reg_3em4.sh │ ├── run_normal_rlw_mt50_buffer_rewnorm_4x_buf_def_lr_actor_reg_3em4.sh │ └── run_pcgrad_mt50_buffer_rewnorm_4x_buf_actor_reg_1em4.sh │ ├── main.py │ ├── metadata │ └── task_embedding │ │ └── roberta_small │ │ ├── metaworld-mt10.json │ │ └── metaworld-mt50.json │ ├── mtrl │ ├── __init__.py │ ├── agent │ │ ├── __init__.py │ │ ├── abstract.py │ │ ├── components │ │ │ ├── __init__.py │ │ │ ├── actor.py │ │ │ ├── base.py │ │ │ ├── critic.py │ │ │ ├── decoder.py │ │ │ ├── encoder.py │ │ │ ├── hipbmdp_theta.py │ │ │ ├── moe_layer.py │ │ │ ├── reward_decoder.py │ │ │ ├── soft_modularization.py │ │ │ ├── task_encoder.py │ │ │ └── transition_model.py │ │ ├── deepmdp.py │ │ ├── distral.py │ │ ├── ds │ │ │ ├── __init__.py │ │ │ ├── mt_obs.py │ │ │ └── task_info.py │ │ ├── grad_manipulation.py │ │ ├── gradnorm.py │ │ ├── hipbmdp.py │ │ ├── mtl_optimizer.py │ │ ├── pcgrad.py │ │ ├── sac.py │ │ ├── sac_ae.py │ │ ├── utils.py │ │ └── wrapper.py │ ├── app │ │ ├── __init__.py │ │ └── run.py │ ├── env │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── types.py │ │ └── vec_env.py │ ├── experiment │ │ ├── __init__.py │ │ ├── dmcontrol.py │ │ ├── experiment.py │ │ ├── metaworld.py │ │ ├── multitask.py │ │ └── utils.py │ ├── logger.py │ ├── replay_buffer.py │ └── utils │ │ ├── __init__.py │ │ ├── checkpointable.py │ │ ├── config.py │ │ ├── types.py │ │ ├── utils.py │ │ └── video.py │ ├── noxfile.py │ ├── requirements │ ├── base.txt │ ├── dev.txt │ ├── docs.txt │ └── nox.txt │ ├── setup.cfg │ ├── setup.py │ └── tests │ ├── __init__.py │ ├── agent │ ├── components │ │ ├── __init__.py │ │ ├── decoder_test.py │ │ ├── hipbmdp_components_test.py │ │ ├── metaworld_components_test.py │ │ ├── reward_decoder_test.py │ │ ├── softmodularization_components_test.py │ │ └── transition_model_test.py │ ├── hipbmdp_test.py │ ├── metaworld_test.py │ └── utils.py │ ├── environment │ ├── __init__.py │ └── test_envs.py │ └── experiment │ ├── __init__.py │ 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