├── .gitignore ├── README.md ├── bigym_src ├── bigym_env.py ├── bigym_utils.py ├── cqn.py ├── cqn_as.py ├── drqv2plus.py ├── replay_buffer.py └── replay_buffer_action_sequence.py ├── cfgs ├── bigym_task │ ├── cupboards_close_all.yaml │ ├── cupboards_open_all.yaml │ ├── default.yaml │ ├── dishwasher_close.yaml │ ├── dishwasher_close_trays.yaml │ ├── dishwasher_load_cups.yaml │ ├── dishwasher_load_cutlery.yaml │ ├── dishwasher_load_plates.yaml │ ├── dishwasher_open.yaml │ ├── dishwasher_open_trays.yaml │ ├── dishwasher_unload_cups.yaml │ ├── dishwasher_unload_cups_long.yaml │ ├── dishwasher_unload_cutlery.yaml │ ├── dishwasher_unload_cutlery_long.yaml │ ├── dishwasher_unload_plates.yaml │ ├── dishwasher_unload_plates_long.yaml │ ├── drawer_top_close.yaml │ ├── drawer_top_open.yaml │ ├── drawers_close_all.yaml │ ├── drawers_open_all.yaml │ ├── flip_cup.yaml │ ├── flip_cutlery.yaml │ ├── move_plate.yaml │ ├── move_two_plates.yaml │ ├── pick_box.yaml │ ├── put_cups.yaml │ ├── reach_target_dual.yaml │ ├── reach_target_multi_modal.yaml │ ├── reach_target_single.yaml │ ├── sandwich_flip.yaml │ ├── sandwich_remove.yaml │ ├── sandwich_toast.yaml │ ├── saucepan_to_hob.yaml │ ├── stack_blocks.yaml │ ├── store_box.yaml │ ├── store_groceries_lower.yaml │ ├── store_groceries_upper.yaml │ ├── store_kitchenware.yaml │ ├── take_cups.yaml │ ├── wall_cupboard_close.yaml │ └── wall_cupboard_open.yaml ├── config_cqn_as_bigym.yaml ├── config_cqn_as_humanoid.yaml ├── config_cqn_as_rlbench.yaml ├── config_cqn_bigym.yaml ├── config_cqn_dmc.yaml ├── config_cqn_dmc_state.yaml ├── config_cqn_humanoid.yaml ├── config_cqn_rlbench.yaml ├── config_drqv2plus_bigym.yaml ├── config_drqv2plus_rlbench.yaml ├── dmc_task │ ├── acrobot_swingup.yaml │ ├── cartpole_balance.yaml │ ├── cartpole_balance_sparse.yaml │ ├── cartpole_swingup.yaml │ ├── cartpole_swingup_sparse.yaml │ ├── cheetah_run.yaml │ ├── cup_catch.yaml │ ├── easy.yaml │ ├── finger_spin.yaml │ ├── finger_turn_easy.yaml │ ├── finger_turn_hard.yaml │ ├── hard.yaml │ ├── hopper_hop.yaml │ ├── hopper_stand.yaml │ ├── humanoid_run.yaml │ ├── humanoid_stand.yaml │ ├── humanoid_walk.yaml │ ├── medium.yaml │ ├── pendulum_swingup.yaml │ ├── quadruped_run.yaml │ ├── quadruped_walk.yaml │ ├── reach_duplo.yaml │ ├── reacher_easy.yaml │ ├── reacher_hard.yaml │ ├── walker_run.yaml │ ├── walker_stand.yaml │ └── walker_walk.yaml └── rlbench_task │ ├── basketball_in_hoop.yaml │ ├── default.yaml │ ├── insert_usb_in_computer.yaml │ ├── lamp_on.yaml │ ├── meat_on_grill.yaml │ ├── open_door.yaml │ ├── open_drawer.yaml │ ├── open_microwave.yaml │ ├── open_oven.yaml │ ├── phone_on_base.yaml │ ├── pick_up_cup.yaml │ ├── press_switch.yaml │ ├── put_books_on_bookshelf.yaml │ ├── put_money_in_safe.yaml │ ├── put_rubbish_in_bin.yaml │ ├── reach_target.yaml │ ├── slide_block_to_target.yaml │ ├── stack_wine.yaml │ ├── sweep_to_dustpan.yaml │ ├── take_lid_off_saucepan.yaml │ ├── take_plate_off_colored_dish_rack.yaml │ ├── toilet_seat_up.yaml │ └── turn_tap.yaml ├── conda_env.yml ├── cqn_utils.py ├── dmc_src ├── cqn.py ├── cqn_state.py ├── dmc_env.py ├── dmc_state_env.py └── replay_buffer.py ├── humanoid_src ├── cqn.py ├── cqn_as.py ├── humanoid_env.py ├── replay_buffer.py └── replay_buffer_action_sequence.py ├── logger.py ├── logs ├── bigym_results.pkl ├── humanoidbench_results.pkl └── rlbench_results.pkl ├── media ├── cqn_gif1.gif └── cqn_gif2.gif ├── rlbench_src ├── cqn.py ├── cqn_as.py ├── drqv2plus.py ├── replay_buffer.py ├── replay_buffer_action_sequence.py └── rlbench_env.py ├── train_cqn_as_bigym.py ├── train_cqn_as_humanoid.py ├── train_cqn_as_rlbench.py ├── train_cqn_bigym.py ├── train_cqn_dmc.py ├── train_cqn_dmc_state.py ├── train_cqn_humanoid.py ├── train_cqn_rlbench.py ├── train_drqv2plus_bigym.py ├── train_drqv2plus_rlbench.py ├── utils.py └── video.py /.gitignore: -------------------------------------------------------------------------------- 1 | *.pyc 2 | exp_local 3 | bigym 4 | 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