├── .gitignore ├── RLKIT-LICENSE ├── ROLL ├── LSTM_model.py ├── LSTM_path_collector.py ├── LSTM_schedule.py ├── LSTM_trainer.py ├── LSTM_wrapped_env.py ├── ReadMe.md ├── generate_LSTM_vae_only_dataset.py ├── generate_vae_dataset.py ├── launch_files │ ├── launch_ROLL_sawyerdoor.py │ ├── launch_ROLL_sawyerhurdle.py │ ├── launch_ROLL_sawyerhurdlemiddle.py │ ├── launch_ROLL_sawyerpickup.py │ └── launch_ROLL_sawyerpush.py ├── onlineLSTMalgorithm.py ├── online_LSTM_replay_buffer.py └── skewfit_full_experiments_LSTM.py ├── ReadMe.md ├── chester ├── README.md ├── config.py ├── config_ec2.py ├── examples │ ├── cplot_example.py │ ├── pgm_plot.py │ ├── presets.py │ ├── presets2.py │ ├── presets3.py │ ├── presets_tiancheng.py │ ├── train.py │ └── train_launch.py ├── logger.py ├── plotting │ └── cplot.py ├── pull_result.py ├── rsync_exclude ├── rsync_include ├── run_exp.py ├── run_exp_worker.py ├── slurm.py └── utils_s3.py ├── environment.yml ├── examples ├── ddpg.py ├── doodad │ ├── ec2_example.py │ └── gcp_example.py ├── dqn_and_double_dqn.py ├── her │ ├── her_dqn_gridworld.py │ ├── her_sac_gym_fetch_reach.py │ └── her_td3_multiworld_sawyer_reach.py ├── sac.py ├── skewfit │ ├── launch_sawyer_pickup.py │ ├── launch_skewfit_sawyer_door.py │ ├── launch_skewfit_sawyer_push.py │ ├── launch_skewfit_sawyer_push_hurdle.py │ ├── sawyer_door.py │ ├── sawyer_pickup.py │ ├── sawyer_push.py │ ├── sawyer_push_hurdle.py │ ├── sawyer_push_hurdle_horizontal.py │ ├── sawyer_push_hurdle_middle.py │ └── sawyer_push_ori.py └── td3.py ├── hurdle-bottom-visual.gif ├── hurdle-top-visual.gif ├── multiworld ├── .gitignore ├── LICENSE ├── MANIFEST.in ├── README.md ├── multiworld │ ├── __init__.py │ ├── core │ │ ├── __init__.py │ │ ├── flat_goal_env.py │ │ ├── gym_to_multi_env.py │ │ ├── image_env.py │ │ ├── multitask_env.py │ │ ├── serializable.py │ │ └── wrapper_env.py │ └── envs │ │ ├── __init__.py │ │ ├── assets │ │ ├── classic_mujoco │ │ │ └── half_cheetah.xml │ │ ├── meshes │ │ │ └── sawyer │ │ │ │ ├── GUIDE_WSG50_110.stl │ │ │ │ ├── WSG-FMF.stl │ │ │ │ ├── WSG50_110.stl │ │ │ │ ├── base.stl │ │ │ │ ├── head.stl │ │ │ │ ├── l0.stl │ │ │ │ ├── l1.stl │ │ │ │ ├── l2.stl │ │ │ │ ├── l3.stl │ │ │ │ ├── l4.stl │ │ │ │ ├── l5.stl │ │ │ │ ├── l6.stl │ │ │ │ ├── pedestal.stl │ │ │ │ ├── sawyer_ft │ │ │ │ ├── PEDESTAL.DAE │ │ │ │ ├── PEDESTAL.stl │ │ │ │ ├── base.DAE │ │ │ │ ├── base.stl │ │ │ │ ├── head.DAE │ │ │ │ ├── head.stl │ │ │ │ ├── l0.DAE │ │ │ │ ├── l0.stl │ │ │ │ ├── l1.DAE │ │ │ │ ├── l1.stl │ │ │ │ ├── l2.DAE │ │ │ │ ├── l2.stl │ │ │ │ ├── l3.DAE │ │ │ │ ├── l3.stl │ │ │ │ ├── l4.DAE │ │ │ │ ├── l4.stl │ │ │ │ ├── l5.DAE │ │ │ │ ├── l5.stl │ │ │ │ ├── l6.DAE │ │ │ │ └── l6.stl │ │ │ │ ├── sawyer_mp1 │ │ │ │ ├── l6.DAE │ │ │ │ └── l6.stl │ │ │ │ ├── sawyer_mp3 │ │ │ │ ├── l0.DAE │ │ │ │ ├── l0.stl │ │ │ │ ├── l1.DAE │ │ │ │ └── l1.stl │ │ │ │ └── sawyer_pv │ │ │ │ ├── base.DAE │ │ │ │ ├── base.stl │ │ │ │ ├── head.DAE │ │ │ │ ├── head.stl │ │ │ │ ├── l0.DAE │ │ │ │ ├── l0.stl │ │ │ │ ├── l1.DAE │ │ │ │ ├── l1.stl │ │ │ │ ├── l2.DAE │ │ │ │ ├── l2.stl │ │ │ │ ├── l3.DAE │ │ │ │ ├── l3.stl │ │ │ │ ├── l4.DAE │ │ │ │ ├── l4.stl │ │ │ │ ├── l5.DAE │ │ │ │ ├── l5.stl │ │ │ │ ├── l6.DAE │ │ │ │ ├── l6.stl │ │ │ │ ├── pedestal.DAE │ │ │ │ └── pedestal.stl │ │ ├── multi_object_sawyer_xyz │ │ │ ├── door_config.xml │ │ │ ├── door_hook_config.xml │ │ │ ├── sawyer_2_push_puck.xml │ │ │ ├── sawyer_door.xml │ │ │ ├── sawyer_door_pull.xml │ │ │ ├── sawyer_door_pull_30.xml │ │ │ ├── sawyer_door_pull_60.xml │ │ │ ├── sawyer_door_pull_hook.xml │ │ │ ├── sawyer_door_pull_hook_30.xml │ │ │ ├── sawyer_door_pull_hook_45.xml │ │ │ ├── sawyer_grasp.xml │ │ │ ├── sawyer_multiobj.xml │ │ │ ├── sawyer_pick_and_place.xml │ │ │ ├── sawyer_pick_and_place_hidden_arm.xml │ │ │ ├── sawyer_push_puck.xml │ │ │ ├── sawyer_push_two_puck.xml │ │ │ ├── sawyer_reach.xml │ │ │ ├── sawyer_reach_torque.xml │ │ │ ├── sawyer_wsg_base.xml │ │ │ ├── sawyer_xyz_base.xml │ │ │ ├── sawyer_xyz_base_door_hook.xml │ │ │ ├── sawyer_xyz_base_hidden_arm.xml │ │ │ ├── sawyer_xyz_bin_base.xml │ │ │ ├── sawyer_xyz_bin_base_gripper.xml │ │ │ └── shared_config.xml │ │ ├── multiobject_models │ │ │ ├── Bowl │ │ │ │ ├── Bowl.off │ │ │ │ ├── Bowl.stl │ │ │ │ ├── Bowl.wrl │ │ │ │ ├── Bowl_GM.stl │ │ │ │ ├── Camera.stl │ │ │ │ ├── Lamp.stl │ │ │ │ ├── Shape_IndexedFaceSet.stl │ │ │ │ ├── Shape_IndexedFaceSet_001.stl │ │ │ │ ├── Shape_IndexedFaceSet_002.stl │ │ │ │ ├── Shape_IndexedFaceSet_003.stl │ │ │ │ ├── Shape_IndexedFaceSet_004.stl │ │ │ │ ├── Shape_IndexedFaceSet_005.stl │ │ │ │ ├── Shape_IndexedFaceSet_006.stl │ │ │ │ ├── Shape_IndexedFaceSet_007.stl │ │ │ │ ├── Shape_IndexedFaceSet_008.stl │ │ │ │ ├── Shape_IndexedFaceSet_009.stl │ │ │ │ ├── Shape_IndexedFaceSet_010.stl │ │ │ │ ├── Shape_IndexedFaceSet_011.stl │ │ │ │ ├── Shape_IndexedFaceSet_012.stl │ │ │ │ ├── Shape_IndexedFaceSet_013.stl │ │ │ │ ├── Shape_IndexedFaceSet_014.stl │ │ │ │ ├── Shape_IndexedFaceSet_015.stl │ │ │ │ ├── Shape_IndexedFaceSet_016.stl │ │ │ │ ├── Shape_IndexedFaceSet_017.stl │ │ │ │ ├── Shape_IndexedFaceSet_018.stl │ │ │ │ ├── Shape_IndexedFaceSet_019.stl │ │ │ │ ├── Shape_IndexedFaceSet_020.stl │ │ │ │ ├── Shape_IndexedFaceSet_021.stl │ │ │ │ ├── Shape_IndexedFaceSet_022.stl │ │ │ │ ├── Shape_IndexedFaceSet_023.stl │ │ │ │ ├── Shape_IndexedFaceSet_024.stl │ │ │ │ ├── Shape_IndexedFaceSet_025.stl │ │ │ │ ├── Shape_IndexedFaceSet_026.stl │ │ │ │ ├── Shape_IndexedFaceSet_027.stl │ │ │ │ ├── Shape_IndexedFaceSet_028.stl │ │ │ │ ├── Shape_IndexedFaceSet_029.stl │ │ │ │ ├── Shape_IndexedFaceSet_030.stl │ │ │ │ ├── Shape_IndexedFaceSet_031.stl │ │ │ │ ├── Shape_IndexedFaceSet_032.stl │ │ │ │ ├── Shape_IndexedFaceSet_033.stl │ │ │ │ ├── Shape_IndexedFaceSet_034.stl │ │ │ │ └── Shape_IndexedFaceSet_035.stl │ │ │ ├── ElephantBowl │ │ │ │ ├── Camera.stl │ │ │ │ ├── ElephantBowl.off │ │ │ │ ├── ElephantBowl.stl │ │ │ │ ├── ElephantBowl.wrl │ │ │ │ ├── ElephantBowl_GM.stl │ │ │ │ ├── Lamp.stl │ │ │ │ ├── Shape_IndexedFaceSet.stl │ │ │ │ ├── Shape_IndexedFaceSet_001.stl │ │ │ │ ├── Shape_IndexedFaceSet_002.stl │ │ │ │ ├── Shape_IndexedFaceSet_003.stl │ │ │ │ └── Shape_IndexedFaceSet_004.stl │ │ │ ├── Fork │ │ │ │ ├── Camera.stl │ │ │ │ ├── Fork.off │ │ │ │ ├── Fork.stl │ │ │ │ ├── Fork.wrl │ │ │ │ ├── Fork_GM.stl │ │ │ │ ├── Lamp.stl │ │ │ │ ├── Shape_IndexedFaceSet.stl │ │ │ │ ├── Shape_IndexedFaceSet_001.stl │ │ │ │ ├── Shape_IndexedFaceSet_002.stl │ │ │ │ ├── Shape_IndexedFaceSet_003.stl │ │ │ │ ├── Shape_IndexedFaceSet_004.stl │ │ │ │ ├── Shape_IndexedFaceSet_005.stl │ │ │ │ ├── Shape_IndexedFaceSet_006.stl │ │ │ │ └── Shape_IndexedFaceSet_007.stl │ │ │ ├── GlassBowl │ │ │ │ ├── Camera.stl │ │ │ │ ├── GlassBowl.off │ │ │ │ ├── GlassBowl.stl │ │ │ │ ├── GlassBowl.wrl │ │ │ │ ├── GlassBowl_GM.stl │ │ │ │ ├── Lamp.stl │ │ │ │ ├── Shape_IndexedFaceSet.stl │ │ │ │ ├── Shape_IndexedFaceSet_001.stl │ │ │ │ ├── Shape_IndexedFaceSet_002.stl │ │ │ │ ├── Shape_IndexedFaceSet_003.stl │ │ │ │ ├── Shape_IndexedFaceSet_004.stl │ │ │ │ ├── Shape_IndexedFaceSet_005.stl │ │ │ │ ├── Shape_IndexedFaceSet_006.stl │ │ │ │ ├── Shape_IndexedFaceSet_007.stl │ │ │ │ ├── Shape_IndexedFaceSet_008.stl │ │ │ │ ├── Shape_IndexedFaceSet_009.stl │ │ │ │ ├── Shape_IndexedFaceSet_010.stl │ │ │ │ ├── Shape_IndexedFaceSet_011.stl │ │ │ │ ├── Shape_IndexedFaceSet_012.stl │ │ │ │ ├── Shape_IndexedFaceSet_013.stl │ │ │ │ ├── Shape_IndexedFaceSet_014.stl │ │ │ │ ├── Shape_IndexedFaceSet_015.stl │ │ │ │ ├── Shape_IndexedFaceSet_016.stl │ │ │ │ ├── Shape_IndexedFaceSet_017.stl │ │ │ │ ├── Shape_IndexedFaceSet_018.stl │ │ │ │ ├── Shape_IndexedFaceSet_019.stl │ │ │ │ ├── Shape_IndexedFaceSet_020.stl │ │ │ │ ├── Shape_IndexedFaceSet_021.stl │ │ │ │ ├── Shape_IndexedFaceSet_022.stl │ │ │ │ ├── Shape_IndexedFaceSet_023.stl │ │ │ │ ├── Shape_IndexedFaceSet_024.stl │ │ │ │ ├── Shape_IndexedFaceSet_025.stl │ │ │ │ ├── Shape_IndexedFaceSet_026.stl │ │ │ │ ├── Shape_IndexedFaceSet_027.stl │ │ │ │ ├── Shape_IndexedFaceSet_028.stl │ │ │ │ ├── Shape_IndexedFaceSet_029.stl │ │ │ │ ├── Shape_IndexedFaceSet_030.stl │ │ │ │ ├── Shape_IndexedFaceSet_031.stl │ │ │ │ ├── Shape_IndexedFaceSet_032.stl │ │ │ │ ├── Shape_IndexedFaceSet_033.stl │ │ │ │ └── Shape_IndexedFaceSet_034.stl │ │ │ ├── Knife │ │ │ │ ├── Camera.stl │ │ │ │ ├── Knife.off │ │ │ │ ├── Knife.stl │ │ │ │ ├── Knife.wrl │ │ │ │ ├── Knife_GM.stl │ │ │ │ ├── Lamp.stl │ │ │ │ └── Shape_IndexedFaceSet.stl │ │ │ ├── LotusBowl01 │ │ │ │ ├── Camera.stl │ │ │ │ ├── Lamp.stl │ │ │ │ ├── LotusBowl01.off │ │ │ │ ├── LotusBowl01.stl │ │ │ │ ├── LotusBowl01.wrl │ │ │ │ ├── LotusBowl01_GM.stl │ │ │ │ ├── Shape_IndexedFaceSet.stl │ │ │ │ ├── Shape_IndexedFaceSet_001.stl │ │ │ │ ├── Shape_IndexedFaceSet_002.stl │ │ │ │ ├── Shape_IndexedFaceSet_003.stl │ │ │ │ ├── Shape_IndexedFaceSet_004.stl │ │ │ │ ├── Shape_IndexedFaceSet_005.stl │ │ │ │ ├── Shape_IndexedFaceSet_006.stl │ │ │ │ ├── Shape_IndexedFaceSet_007.stl │ │ │ │ ├── Shape_IndexedFaceSet_008.stl │ │ │ │ ├── Shape_IndexedFaceSet_009.stl │ │ │ │ ├── Shape_IndexedFaceSet_010.stl │ │ │ │ ├── Shape_IndexedFaceSet_011.stl │ │ │ │ ├── Shape_IndexedFaceSet_012.stl │ │ │ │ ├── Shape_IndexedFaceSet_013.stl │ │ │ │ ├── Shape_IndexedFaceSet_014.stl │ │ │ │ ├── Shape_IndexedFaceSet_015.stl │ │ │ │ ├── Shape_IndexedFaceSet_016.stl │ │ │ │ ├── Shape_IndexedFaceSet_017.stl │ │ │ │ ├── Shape_IndexedFaceSet_018.stl │ │ │ │ ├── Shape_IndexedFaceSet_019.stl │ │ │ │ ├── Shape_IndexedFaceSet_020.stl │ │ │ │ ├── Shape_IndexedFaceSet_021.stl │ │ │ │ ├── Shape_IndexedFaceSet_022.stl │ │ │ │ ├── Shape_IndexedFaceSet_023.stl │ │ │ │ ├── Shape_IndexedFaceSet_024.stl │ │ │ │ ├── Shape_IndexedFaceSet_025.stl │ │ │ │ ├── Shape_IndexedFaceSet_026.stl │ │ │ │ ├── Shape_IndexedFaceSet_027.stl │ │ │ │ ├── Shape_IndexedFaceSet_028.stl │ │ │ │ ├── Shape_IndexedFaceSet_029.stl │ │ │ │ ├── Shape_IndexedFaceSet_030.stl │ │ │ │ ├── Shape_IndexedFaceSet_031.stl │ │ │ │ ├── Shape_IndexedFaceSet_032.stl │ │ │ │ ├── Shape_IndexedFaceSet_033.stl │ │ │ │ └── Shape_IndexedFaceSet_034.stl │ │ │ ├── RuggedBowl │ │ │ │ ├── Camera.stl │ │ │ │ ├── Lamp.stl │ │ │ │ ├── RuggedBowl.off │ │ │ │ ├── RuggedBowl.stl │ │ │ │ ├── RuggedBowl.wrl │ │ │ │ ├── RuggedBowl_GM.stl │ │ │ │ ├── Shape_IndexedFaceSet.stl │ │ │ │ ├── Shape_IndexedFaceSet_001.stl │ │ │ │ ├── Shape_IndexedFaceSet_002.stl │ │ │ │ ├── Shape_IndexedFaceSet_003.stl │ │ │ │ ├── Shape_IndexedFaceSet_004.stl │ │ │ │ ├── Shape_IndexedFaceSet_005.stl │ │ │ │ ├── Shape_IndexedFaceSet_006.stl │ │ │ │ ├── Shape_IndexedFaceSet_007.stl │ │ │ │ ├── Shape_IndexedFaceSet_008.stl │ │ │ │ ├── Shape_IndexedFaceSet_009.stl │ │ │ │ ├── Shape_IndexedFaceSet_010.stl │ │ │ │ ├── Shape_IndexedFaceSet_011.stl │ │ │ │ ├── Shape_IndexedFaceSet_012.stl │ │ │ │ └── Shape_IndexedFaceSet_013.stl │ │ │ ├── ServingBowl │ │ │ │ ├── Camera.stl │ │ │ │ ├── Lamp.stl │ │ │ │ ├── ServingBowl.off │ │ │ │ ├── ServingBowl.stl │ │ │ │ ├── ServingBowl.wrl │ │ │ │ ├── ServingBowl_GM.stl │ │ │ │ ├── Shape_IndexedFaceSet.stl │ │ │ │ ├── Shape_IndexedFaceSet_001.stl │ │ │ │ ├── Shape_IndexedFaceSet_002.stl │ │ │ │ ├── Shape_IndexedFaceSet_003.stl │ │ │ │ ├── Shape_IndexedFaceSet_004.stl │ │ │ │ ├── Shape_IndexedFaceSet_005.stl │ │ │ │ ├── Shape_IndexedFaceSet_006.stl │ │ │ │ ├── Shape_IndexedFaceSet_007.stl │ │ │ │ ├── Shape_IndexedFaceSet_008.stl │ │ │ │ ├── Shape_IndexedFaceSet_009.stl │ │ │ │ ├── Shape_IndexedFaceSet_010.stl │ │ │ │ ├── Shape_IndexedFaceSet_011.stl │ │ │ │ ├── Shape_IndexedFaceSet_012.stl │ │ │ │ ├── Shape_IndexedFaceSet_013.stl │ │ │ │ ├── Shape_IndexedFaceSet_014.stl │ │ │ │ ├── Shape_IndexedFaceSet_015.stl │ │ │ │ ├── Shape_IndexedFaceSet_016.stl │ │ │ │ ├── Shape_IndexedFaceSet_017.stl │ │ │ │ ├── Shape_IndexedFaceSet_018.stl │ │ │ │ ├── Shape_IndexedFaceSet_019.stl │ │ │ │ ├── Shape_IndexedFaceSet_020.stl │ │ │ │ ├── Shape_IndexedFaceSet_021.stl │ │ │ │ ├── Shape_IndexedFaceSet_022.stl │ │ │ │ ├── Shape_IndexedFaceSet_023.stl │ │ │ │ ├── Shape_IndexedFaceSet_024.stl │ │ │ │ ├── Shape_IndexedFaceSet_025.stl │ │ │ │ ├── Shape_IndexedFaceSet_026.stl │ │ │ │ ├── Shape_IndexedFaceSet_027.stl │ │ │ │ ├── Shape_IndexedFaceSet_028.stl │ │ │ │ ├── Shape_IndexedFaceSet_029.stl │ │ │ │ ├── Shape_IndexedFaceSet_030.stl │ │ │ │ ├── Shape_IndexedFaceSet_031.stl │ │ │ │ ├── Shape_IndexedFaceSet_032.stl │ │ │ │ ├── Shape_IndexedFaceSet_033.stl │ │ │ │ ├── Shape_IndexedFaceSet_034.stl │ │ │ │ ├── Shape_IndexedFaceSet_035.stl │ │ │ │ ├── Shape_IndexedFaceSet_036.stl │ │ │ │ ├── Shape_IndexedFaceSet_037.stl │ │ │ │ ├── Shape_IndexedFaceSet_038.stl │ │ │ │ ├── Shape_IndexedFaceSet_039.stl │ │ │ │ ├── Shape_IndexedFaceSet_040.stl │ │ │ │ ├── Shape_IndexedFaceSet_041.stl │ │ │ │ ├── Shape_IndexedFaceSet_042.stl │ │ │ │ ├── Shape_IndexedFaceSet_043.stl │ │ │ │ ├── Shape_IndexedFaceSet_044.stl │ │ │ │ ├── Shape_IndexedFaceSet_045.stl │ │ │ │ ├── Shape_IndexedFaceSet_046.stl │ │ │ │ ├── Shape_IndexedFaceSet_047.stl │ │ │ │ ├── Shape_IndexedFaceSet_048.stl │ │ │ │ └── Shape_IndexedFaceSet_049.stl │ │ │ ├── Spoon │ │ │ │ ├── Camera.stl │ │ │ │ ├── Lamp.stl │ │ │ │ ├── Shape_IndexedFaceSet.stl │ │ │ │ ├── Shape_IndexedFaceSet_001.stl │ │ │ │ ├── Shape_IndexedFaceSet_002.stl │ │ │ │ ├── Shape_IndexedFaceSet_003.stl │ │ │ │ ├── Shape_IndexedFaceSet_004.stl │ │ │ │ ├── Shape_IndexedFaceSet_005.stl │ │ │ │ ├── Shape_IndexedFaceSet_006.stl │ │ │ │ ├── Shape_IndexedFaceSet_007.stl │ │ │ │ ├── Shape_IndexedFaceSet_008.stl │ │ │ │ ├── Shape_IndexedFaceSet_009.stl │ │ │ │ ├── Shape_IndexedFaceSet_010.stl │ │ │ │ ├── Spoon.off │ │ │ │ ├── Spoon.stl │ │ │ │ ├── Spoon.wrl │ │ │ │ └── Spoon_GM.stl │ │ │ ├── cartgripper.xml │ │ │ ├── cartgripper_getflows.xml │ │ │ ├── cartgripper_grasp.xml │ │ │ ├── cartgripper_noautogen.xml │ │ │ ├── cartgripper_updown.xml │ │ │ ├── cartgripper_updown_2cam.xml │ │ │ ├── cartgripper_updown_2cam_noautogen.xml │ │ │ ├── cartgripper_updown_rot.xml │ │ │ ├── cartgripper_updown_whitefingers.xml │ │ │ ├── generate_touch_sensors.py │ │ │ ├── pushing2d.xml │ │ │ ├── pushing2d_controller.xml │ │ │ ├── pushing2d_controller_nomarkers.xml │ │ │ ├── pushing2d_controller_touchsensor.xml │ │ │ ├── pushing2d_controller_touchsensor_nomarkers.xml │ │ │ ├── pushing2d_touch.xml │ │ │ ├── sawyer_assets │ │ │ │ ├── meshes │ │ │ │ │ └── sawyer │ │ │ │ │ │ ├── GUIDE_WSG50_110.stl │ │ │ │ │ │ ├── WSG-FMF.stl │ │ │ │ │ │ ├── WSG50_110.stl │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ ├── head.stl │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ ├── l1.stl │ │ │ │ │ │ ├── l2.stl │ │ │ │ │ │ ├── l3.stl │ │ │ │ │ │ ├── l4.stl │ │ │ │ │ │ ├── l5.stl │ │ │ │ │ │ ├── l6.stl │ │ │ │ │ │ ├── pedestal.stl │ │ │ │ │ │ ├── sawyer_ft │ │ │ │ │ │ ├── PEDESTAL.DAE │ │ │ │ │ │ ├── PEDESTAL.stl │ │ │ │ │ │ ├── base.DAE │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ ├── head.DAE │ │ │ │ │ │ ├── head.stl │ │ │ │ │ │ ├── l0.DAE │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ ├── l1.DAE │ │ │ │ │ │ ├── l1.stl │ │ │ │ │ │ ├── l2.DAE │ │ │ │ │ │ ├── l2.stl │ │ │ │ │ │ ├── l3.DAE │ │ │ │ │ │ ├── l3.stl │ │ │ │ │ │ ├── l4.DAE │ │ │ │ │ │ ├── l4.stl │ │ │ │ │ │ ├── l5.DAE │ │ │ │ │ │ ├── l5.stl │ │ │ │ │ │ ├── l6.DAE │ │ │ │ │ │ └── l6.stl │ │ │ │ │ │ ├── sawyer_mp1 │ │ │ │ │ │ ├── l6.DAE │ │ │ │ │ │ └── l6.stl │ │ │ │ │ │ ├── sawyer_mp3 │ │ │ │ │ │ ├── l0.DAE │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ ├── l1.DAE │ │ │ │ │ │ └── l1.stl │ │ │ │ │ │ └── sawyer_pv │ │ │ │ │ │ ├── base.DAE │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ ├── head.DAE │ │ │ │ │ │ ├── head.stl │ │ │ │ │ │ ├── l0.DAE │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ ├── l1.DAE │ │ │ │ │ │ ├── l1.stl │ │ │ │ │ │ ├── l2.DAE │ │ │ │ │ │ ├── l2.stl │ │ │ │ │ │ ├── l3.DAE │ │ │ │ │ │ ├── l3.stl │ │ │ │ │ │ ├── l4.DAE │ │ │ │ │ │ ├── l4.stl │ │ │ │ │ │ ├── l5.DAE │ │ │ │ │ │ ├── l5.stl │ │ │ │ │ │ ├── l6.DAE │ │ │ │ │ │ ├── l6.stl │ │ │ │ │ │ ├── pedestal.DAE │ │ │ │ │ │ └── pedestal.stl │ │ │ │ └── sawyer_xyz │ │ │ │ │ ├── sawyer_grasp.xml │ │ │ │ │ ├── sawyer_wsg_base.xml │ │ │ │ │ └── shared_config.xml │ │ │ └── touchsensor.xml │ │ ├── sawyer_torque │ │ │ └── sawyer_reach_torque.xml │ │ ├── sawyer_xyz │ │ │ ├── door_config.xml │ │ │ ├── door_hook_config.xml │ │ │ ├── sawyer_door_pull.xml │ │ │ ├── sawyer_door_pull_30.xml │ │ │ ├── sawyer_door_pull_60.xml │ │ │ ├── sawyer_door_pull_hook.xml │ │ │ ├── sawyer_door_pull_hook_30.xml │ │ │ ├── sawyer_door_pull_hook_45.xml │ │ │ ├── sawyer_door_pull_hook_door_and_robot_invisible.xml │ │ │ ├── sawyer_door_pull_hook_door_invisible.xml │ │ │ ├── sawyer_door_pull_hook_robot_invisible.xml │ │ │ ├── sawyer_pick_and_place.xml │ │ │ ├── sawyer_pick_and_place_ball_and_robot_invisible.xml │ │ │ ├── sawyer_pick_and_place_ball_invisible.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_T.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_T_puck_invisible.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_hurdle.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_hurdle_fat_gripper.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_hurdle_horizontal.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_hurdle_middle.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_hurdle_middle_puck_invisible.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_hurdle_puck_and_robot_invisible.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_hurdle_puck_invisible.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_hurdle_reset_free.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_hurdle_reset_free_puck_invisible.xml │ │ │ ├── sawyer_push_and_reach_mocap_goal_hidden_puck_invisible.xml │ │ │ ├── sawyer_push_puck.xml │ │ │ ├── sawyer_push_puck_arena.xml │ │ │ ├── sawyer_push_puck_small_arena.xml │ │ │ ├── sawyer_push_two_puck.xml │ │ │ ├── sawyer_reach.xml │ │ │ ├── sawyer_xyz_base.xml │ │ │ ├── sawyer_xyz_base_door_hook.xml │ │ │ ├── sawyer_xyz_base_door_hook_sawyer_invisible.xml │ │ │ ├── sawyer_xyz_base_pusher.xml │ │ │ ├── sawyer_xyz_base_sawyer_invisible.xml │ │ │ └── shared_config.xml │ │ └── texture │ │ │ ├── darkwood.png │ │ │ ├── granite.png │ │ │ ├── light_wood.png │ │ │ ├── light_wood_v2.jpg │ │ │ ├── light_wood_v2.png │ │ │ ├── real_door.png │ │ │ └── wood.png │ │ ├── env_util.py │ │ ├── gridworlds │ │ ├── __init__.py │ │ └── goal_gridworld.py │ │ ├── mujoco │ │ ├── __init__.py │ │ ├── cameras.py │ │ ├── classic_mujoco │ │ │ └── half_cheetah.py │ │ ├── goals │ │ │ ├── door_goals.npy │ │ │ ├── door_goals_backup.npy │ │ │ └── pickup_goals.npy │ │ ├── mujoco_env.py │ │ ├── sawyer_torque │ │ │ ├── __init__.py │ │ │ └── sawyer_torque_reach.py │ │ ├── sawyer_xyz │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── sawyer_door.py │ │ │ ├── sawyer_door_hook.py │ │ │ ├── sawyer_multiple_objects.py │ │ │ ├── sawyer_pick_and_place.py │ │ │ ├── sawyer_push_T.py │ │ │ ├── sawyer_push_and_reach_env.py │ │ │ ├── sawyer_push_and_reach_env_two_pucks.py │ │ │ ├── sawyer_push_hurdle.py │ │ │ ├── sawyer_push_hurdle_horizontal.py │ │ │ ├── sawyer_push_hurdle_middle.py │ │ │ ├── sawyer_push_hurdle_reset_free.py │ │ │ ├── sawyer_push_multiobj.py │ │ │ ├── sawyer_push_multiobj_subset.py │ │ │ ├── sawyer_push_nips.py │ │ │ └── sawyer_reach.py │ │ └── util │ │ │ ├── __init__.py │ │ │ ├── create_xml.py │ │ │ └── interpolation.py │ │ ├── pygame │ │ ├── __init__.py │ │ ├── point2d.py │ │ ├── pygame_viewer.py │ │ └── walls.py │ │ └── real_world │ │ ├── __init__.py │ │ └── sawyer │ │ ├── __init__.py │ │ ├── sawyer_door.py │ │ ├── sawyer_pushing.py │ │ └── sawyer_reaching.py ├── scripts │ └── keyboard_control.py └── setup.py ├── prepare.sh ├── rlkit ├── __init__.py ├── core │ ├── __init__.py │ ├── batch_rl_algorithm.py │ ├── eval_util.py │ ├── logging.py │ ├── online_rl_algorithm.py │ ├── rl_algorithm.py │ ├── serializable.py │ ├── tabulate.py │ └── trainer.py ├── data_management │ ├── __init__.py │ ├── env_replay_buffer.py │ ├── normalizer.py │ ├── obs_dict_replay_buffer.py │ ├── obs_dict_replay_buffer_segmented.py │ ├── online_vae_replay_buffer.py │ ├── online_vae_replay_buffer_segmented.py │ ├── path_builder.py │ ├── replay_buffer.py │ ├── shared_obs_dict_replay_buffer.py │ └── simple_replay_buffer.py ├── envs │ ├── ant.py │ ├── assets │ │ ├── low_gear_ratio_ant.xml │ │ └── reacher_7dof.xml │ ├── env_utils.py │ ├── goal_generation │ │ └── pickup_goal_dataset.py │ ├── mujoco_env.py │ ├── mujoco_image_env.py │ ├── vae_wrapper.py │ ├── vae_wrapper_segmented.py │ └── wrappers.py ├── exploration_strategies │ ├── __init__.py │ ├── base.py │ ├── epsilon_greedy.py │ ├── gaussian_and_epsilon_strategy.py │ ├── gaussian_strategy.py │ └── ou_strategy.py ├── launchers │ ├── __init__.py │ ├── conf.py │ ├── launcher_util.py │ ├── launcher_util.py_orig │ ├── skewfit_experiments.py │ └── skewfit_experiments.py_orig ├── policies │ ├── __init__.py │ ├── argmax.py │ ├── base.py │ └── simple.py ├── pythonplusplus.py ├── samplers │ ├── __init__.py │ ├── data_collector │ │ ├── __init__.py │ │ ├── base.py │ │ ├── path_collector.py │ │ ├── step_collector.py │ │ └── vae_env.py │ ├── rollout_functions.py │ └── util.py ├── torch │ ├── __init__.py │ ├── conv_networks.py │ ├── core.py │ ├── data.py │ ├── data_management │ │ ├── __init__.py │ │ └── normalizer.py │ ├── ddpg │ │ ├── __init__.py │ │ └── ddpg.py │ ├── distributions.py │ ├── dqn │ │ ├── __init__.py │ │ ├── double_dqn.py │ │ └── dqn.py │ ├── her │ │ ├── __init__.py │ │ └── her.py │ ├── modules.py │ ├── networks.py │ ├── pytorch_util.py │ ├── sac │ │ ├── __init__.py │ │ ├── policies.py │ │ └── sac.py │ ├── skewfit │ │ ├── online_vae_algorithm.py │ │ ├── online_vae_algorithm_segmented.py │ │ └── video_gen.py │ ├── td3 │ │ ├── __init__.py │ │ └── td3.py │ ├── torch_rl_algorithm.py │ └── vae │ │ ├── conv_vae.py │ │ ├── vae_base.py │ │ ├── vae_schedules.py │ │ └── vae_trainer.py └── util │ ├── hyperparameter.py │ ├── io.py │ ├── ml_util.py │ └── video.py ├── rllab ├── __init__.py ├── algos │ ├── __init__.py │ ├── base.py │ ├── batch_polopt.py │ ├── cem.py │ ├── cma_es.py │ ├── cma_es_lib.py │ ├── ddpg.py │ ├── erwr.py │ ├── nop.py │ ├── npo.py │ ├── ppo.py │ ├── reps.py │ ├── tnpg.py │ ├── trpo.py │ ├── util.py │ └── vpg.py ├── baselines │ ├── __init__.py │ ├── base.py │ ├── gaussian_conv_baseline.py │ ├── gaussian_mlp_baseline.py │ ├── linear_feature_baseline.py │ └── zero_baseline.py ├── config.py ├── config_personal.py ├── config_personal_template.py ├── core │ ├── __init__.py │ ├── lasagne_helpers.py │ ├── lasagne_layers.py │ ├── lasagne_powered.py │ ├── network.py │ ├── parameterized.py │ └── serializable.py ├── distributions │ ├── __init__.py │ ├── base.py │ ├── bernoulli.py │ ├── categorical.py │ ├── delta.py │ ├── diagonal_gaussian.py │ ├── recurrent_categorical.py │ └── recurrent_diagonal_gaussian.py ├── envs │ ├── __init__.py │ ├── base.py │ ├── box2d │ │ ├── __init__.py │ │ ├── box2d_env.py │ │ ├── box2d_viewer.py │ │ ├── car_parking_env.py │ │ ├── cartpole_env.py │ │ ├── cartpole_swingup_env.py │ │ ├── double_pendulum_env.py │ │ ├── models │ │ │ ├── car_parking.xml │ │ │ ├── car_parking.xml.rb │ │ │ ├── cartpole.xml.mako │ │ │ ├── double_pendulum.xml.mako │ │ │ ├── mountain_car.xml.mako │ │ │ └── pendulum.xml.mako │ │ ├── mountain_car_env.py │ │ ├── parser │ │ │ ├── __init__.py │ │ │ ├── xml_attr_types.py │ │ │ ├── xml_box2d.py │ │ │ └── xml_types.py │ │ └── pendulum_env.py │ ├── env_spec.py │ ├── grid_world_env.py │ ├── gym_env.py │ ├── identification_env.py │ ├── mujoco │ │ ├── __init__.py │ │ ├── ant_env.py │ │ ├── gather │ │ │ ├── __init__.py │ │ │ ├── ant_gather_env.py │ │ │ ├── embedded_viewer.py │ │ │ ├── gather_env.py │ │ │ ├── point_gather_env.py │ │ │ └── swimmer_gather_env.py │ │ ├── half_cheetah_env.py │ │ ├── hopper_env.py │ │ ├── humanoid_env.py │ │ ├── inverted_double_pendulum_env.py │ │ ├── maze │ │ │ ├── __init__.py │ │ │ ├── ant_maze_env.py │ │ │ ├── maze_env.py │ │ │ ├── maze_env_utils.py │ │ │ ├── point_maze_env.py │ │ │ └── swimmer_maze_env.py │ │ ├── mujoco_env.py │ │ ├── point_env.py │ │ ├── simple_humanoid_env.py │ │ ├── swimmer_env.py │ │ └── walker2d_env.py │ ├── noisy_env.py │ ├── normalized_env.py │ ├── proxy_env.py │ └── sliding_mem_env.py ├── exploration_strategies │ ├── __init__.py │ ├── base.py │ ├── gaussian_strategy.py │ └── ou_strategy.py ├── misc │ ├── __init__.py │ ├── autoargs.py │ ├── console.py │ ├── docker.py │ ├── ext.py │ ├── instrument.py │ ├── instrument2.py │ ├── krylov.py │ ├── logger.py │ ├── mako_utils.py │ ├── meta.py │ ├── nb_utils.py │ ├── overrides.py │ ├── resolve.py │ ├── special.py │ ├── tabulate.py │ ├── tensor_utils.py │ └── viewer2d.py ├── mujoco_py │ ├── .rvmrc │ ├── Gemfile │ ├── __init__.py │ ├── codegen.rb │ ├── glfw.py │ ├── mjconstants.py │ ├── mjcore.py │ ├── mjextra.py │ ├── mjlib.py │ ├── mjtypes.py │ ├── mjviewer.py │ └── util.py ├── optimizers │ ├── __init__.py │ ├── conjugate_gradient_optimizer.py │ ├── first_order_optimizer.py │ ├── hessian_free_optimizer.py │ ├── hf.py │ ├── lbfgs_optimizer.py │ ├── minibatch_dataset.py │ └── penalty_lbfgs_optimizer.py ├── plotter │ ├── __init__.py │ └── plotter.py ├── policies │ ├── __init__.py │ ├── base.py │ ├── categorical_conv_policy.py │ ├── categorical_gru_policy.py │ ├── categorical_mlp_policy.py │ ├── deterministic_mlp_policy.py │ ├── gaussian_gru_policy.py │ ├── gaussian_mlp_policy.py │ └── uniform_control_policy.py ├── q_functions │ ├── __init__.py │ ├── base.py │ └── continuous_mlp_q_function.py ├── regressors │ ├── __init__.py │ ├── categorical_mlp_regressor.py │ ├── gaussian_conv_regressor.py │ ├── gaussian_mlp_regressor.py │ └── product_regressor.py ├── sampler │ ├── __init__.py │ ├── base.py │ ├── parallel_sampler.py │ ├── stateful_pool.py │ └── utils.py ├── spaces │ ├── __init__.py │ ├── base.py │ ├── box.py │ ├── discrete.py │ └── product.py └── viskit │ ├── __init__.py │ ├── core.py │ ├── frontend.py │ ├── static │ ├── css │ │ ├── bootstrap.min.css │ │ └── dropdowns-enhancement.css │ └── js │ │ ├── bootstrap.min.js │ │ ├── dropdowns-enhancement.js │ │ ├── jquery-1.10.2.min.js │ │ ├── jquery.loadTemplate-1.5.6.js │ │ └── plotly-latest.min.js │ └── templates │ ├── main.html │ ├── main_cf.html │ └── main_chester.html ├── scripts ├── ReadMe.md ├── run_goal_conditioned_policy.py ├── test_multiworld.py ├── test_presampled_goals.py └── test_prestored_data.py ├── segmentation ├── DataLoader.py ├── ReadMe.md ├── segment_image.py ├── test_script.py ├── train_script.py ├── training_data_generation.py └── unet │ ├── __init__.py │ ├── unet_model.py │ └── unet_parts.py ├── setup.py └── test_latent_space ├── ReadMe.md ├── test_LSTM.py ├── test_LSTM2.py ├── test_masked_traj.py └── test_vae.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yufeiwang63/ROLL/HEAD/.gitignore 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