├── .gitignore ├── LICENSE ├── README.md ├── analysis ├── plots.py ├── spec_abla_craft.json ├── spec_ant_seeds.json ├── spec_box.json └── spec_craft.json ├── box_cvae_abstract.pth ├── craft_cvae_abstract.pth ├── environment ├── __init__.py ├── ant.py ├── box.py ├── cookbook.py └── craft.py ├── exp.sh ├── experiments ├── ant_nn.yaml ├── ant_ours.yaml ├── ant_wm.yaml ├── box_cvae.yaml ├── box_nn.yaml ├── box_ours.yaml ├── box_relational.yaml ├── box_wm.yaml ├── craft_cvae.yaml ├── craft_nd_nn.yaml ├── craft_nd_ours.yaml ├── craft_nd_wm.yaml ├── craft_nn.yaml ├── craft_nn_full.yaml ├── craft_ours.yaml ├── craft_wm.yaml └── craft_wm_full.yaml ├── gym ├── __init__.py ├── core.py ├── envs │ ├── README.md │ ├── __init__.py │ ├── algorithmic │ │ ├── __init__.py │ │ ├── algorithmic_env.py │ │ ├── copy_.py │ │ ├── duplicated_input.py │ │ ├── repeat_copy.py │ │ ├── reverse.py │ │ ├── reversed_addition.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ └── test_algorithmic.py │ ├── atari │ │ ├── __init__.py │ │ └── atari_env.py │ ├── box2d │ │ ├── __init__.py │ │ ├── bipedal_walker.py │ │ ├── car_dynamics.py │ │ ├── car_racing.py │ │ ├── lunar_lander.py │ │ └── test_lunar_lander.py │ ├── classic_control │ │ ├── __init__.py │ │ ├── acrobot.py │ │ ├── assets │ │ │ └── clockwise.png │ │ ├── cartpole.py │ │ ├── continuous_mountain_car.py │ │ ├── mountain_car.py │ │ ├── pendulum.py │ │ └── rendering.py │ ├── mujoco │ │ ├── __init__.py │ │ ├── ant.py │ │ ├── ant_v3.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ ├── ant_craft.xml │ │ │ ├── half_cheetah.xml │ │ │ ├── hopper.xml │ │ │ ├── humanoid.xml │ │ │ ├── humanoidstandup.xml │ │ │ ├── inverted_double_pendulum.xml │ │ │ ├── inverted_pendulum.xml │ │ │ ├── point.xml │ │ │ ├── pusher.xml │ │ │ ├── reacher.xml │ │ │ ├── striker.xml │ │ │ ├── swimmer.xml │ │ │ ├── thrower.xml │ │ │ └── walker2d.xml │ │ ├── half_cheetah.py │ │ ├── half_cheetah_v3.py │ │ ├── hopper.py │ │ ├── hopper_v3.py │ │ ├── humanoid.py │ │ ├── humanoid_v3.py │ │ ├── humanoidstandup.py │ │ ├── inverted_double_pendulum.py │ │ ├── inverted_pendulum.py │ │ ├── mujoco_env.py │ │ ├── pusher.py │ │ ├── reacher.py │ │ ├── striker.py │ │ ├── swimmer.py │ │ ├── swimmer_v3.py │ │ ├── thrower.py │ │ ├── walker2d.py │ │ └── walker2d_v3.py │ ├── registration.py │ ├── robotics │ │ ├── README.md │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── LICENSE.md │ │ │ ├── fetch │ │ │ │ ├── pick_and_place.xml │ │ │ │ ├── push.xml │ │ │ │ ├── reach.xml │ │ │ │ ├── robot.xml │ │ │ │ ├── shared.xml │ │ │ │ └── slide.xml │ │ │ ├── hand │ │ │ │ ├── manipulate_block.xml │ │ │ │ ├── manipulate_block_touch_sensors.xml │ │ │ │ ├── manipulate_egg.xml │ │ │ │ ├── manipulate_egg_touch_sensors.xml │ │ │ │ ├── manipulate_pen.xml │ │ │ │ ├── manipulate_pen_touch_sensors.xml │ │ │ │ ├── reach.xml │ │ │ │ ├── robot.xml │ │ │ │ ├── robot_touch_sensors_92.xml │ │ │ │ ├── shared.xml │ │ │ │ ├── shared_asset.xml │ │ │ │ └── shared_touch_sensors_92.xml │ │ │ ├── stls │ │ │ │ ├── .get │ │ │ │ ├── fetch │ │ │ │ │ ├── base_link_collision.stl │ │ │ │ │ ├── bellows_link_collision.stl │ │ │ │ │ ├── elbow_flex_link_collision.stl │ │ │ │ │ ├── estop_link.stl │ │ │ │ │ ├── forearm_roll_link_collision.stl │ │ │ │ │ ├── gripper_link.stl │ │ │ │ │ ├── head_pan_link_collision.stl │ │ │ │ │ ├── head_tilt_link_collision.stl │ │ │ │ │ ├── l_wheel_link_collision.stl │ │ │ │ │ ├── laser_link.stl │ │ │ │ │ ├── r_wheel_link_collision.stl │ │ │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ │ │ ├── torso_fixed_link.stl │ │ │ │ │ ├── torso_lift_link_collision.stl │ │ │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ │ │ ├── wrist_flex_link_collision.stl │ │ │ │ │ └── wrist_roll_link_collision.stl │ │ │ │ └── hand │ │ │ │ │ ├── F1.stl │ │ │ │ │ ├── F2.stl │ │ │ │ │ ├── F3.stl │ │ │ │ │ ├── TH1_z.stl │ │ │ │ │ ├── TH2_z.stl │ │ │ │ │ ├── TH3_z.stl │ │ │ │ │ ├── forearm_electric.stl │ │ │ │ │ ├── forearm_electric_cvx.stl │ │ │ │ │ ├── knuckle.stl │ │ │ │ │ ├── lfmetacarpal.stl │ │ │ │ │ ├── palm.stl │ │ │ │ │ └── wrist.stl │ │ │ └── textures │ │ │ │ ├── block.png │ │ │ │ └── block_hidden.png │ │ ├── fetch │ │ │ ├── __init__.py │ │ │ ├── pick_and_place.py │ │ │ ├── push.py │ │ │ ├── reach.py │ │ │ └── slide.py │ │ ├── fetch_env.py │ │ ├── hand │ │ │ ├── __init__.py │ │ │ ├── manipulate.py │ │ │ ├── manipulate_touch_sensors.py │ │ │ └── reach.py │ │ ├── hand_env.py │ │ ├── robot_env.py │ │ ├── rotations.py │ │ └── utils.py │ ├── tests │ │ ├── __init__.py │ │ ├── rollout.json │ │ ├── spec_list.py │ │ ├── test_determinism.py │ │ ├── test_envs.py │ │ ├── test_envs_semantics.py │ │ ├── test_frozenlake_dfs.py │ │ ├── test_kellycoinflip.py │ │ ├── test_mujoco_v2_to_v3_conversion.py │ │ └── test_registration.py │ ├── toy_text │ │ ├── __init__.py │ │ ├── blackjack.py │ │ ├── cliffwalking.py │ │ ├── discrete.py │ │ ├── frozen_lake.py │ │ ├── guessing_game.py │ │ ├── hotter_colder.py │ │ ├── kellycoinflip.py │ │ ├── nchain.py │ │ ├── roulette.py │ │ └── taxi.py │ └── unittest │ │ ├── __init__.py │ │ ├── cube_crash.py │ │ └── memorize_digits.py ├── error.py ├── logger.py ├── spaces │ ├── __init__.py │ ├── box.py │ ├── dict.py │ ├── discrete.py │ ├── multi_binary.py │ ├── multi_discrete.py │ ├── space.py │ ├── tests │ │ ├── __init__.py │ │ ├── test_spaces.py │ │ └── test_utils.py │ ├── tuple.py │ └── utils.py ├── tests │ └── test_core.py ├── utils │ ├── __init__.py │ ├── atomic_write.py │ ├── closer.py │ ├── colorize.py │ ├── ezpickle.py │ ├── json_utils.py │ ├── play.py │ ├── seeding.py │ └── tests │ │ ├── test_atexit.py │ │ └── test_seeding.py ├── vector │ ├── __init__.py │ ├── async_vector_env.py │ ├── sync_vector_env.py │ ├── tests │ │ ├── __init__.py │ │ ├── test_async_vector_env.py │ │ ├── test_numpy_utils.py │ │ ├── test_shared_memory.py │ │ ├── test_spaces.py │ │ ├── test_sync_vector_env.py │ │ ├── test_vector_env.py │ │ ├── test_vector_env_wrapper.py │ │ └── utils.py │ ├── utils │ │ ├── __init__.py │ │ ├── misc.py │ │ ├── numpy_utils.py │ │ ├── shared_memory.py │ │ └── spaces.py │ └── vector_env.py ├── version.py └── wrappers │ ├── README.md │ ├── __init__.py │ ├── atari_preprocessing.py │ ├── clip_action.py │ ├── filter_observation.py │ ├── flatten_observation.py │ ├── frame_stack.py │ ├── gray_scale_observation.py │ ├── monitor.py │ ├── monitoring │ ├── __init__.py │ ├── stats_recorder.py │ ├── tests │ │ ├── __init__.py │ │ ├── helpers.py │ │ └── test_video_recorder.py │ └── video_recorder.py │ ├── pixel_observation.py │ ├── record_episode_statistics.py │ ├── rescale_action.py │ ├── resize_observation.py │ ├── test_atari_preprocessing.py │ ├── test_clip_action.py │ ├── test_filter_observation.py │ ├── test_flatten_observation.py │ ├── test_frame_stack.py │ ├── test_gray_scale_observation.py │ ├── test_pixel_observation.py │ ├── test_record_episode_statistics.py │ ├── test_rescale_action.py │ ├── test_resize_observation.py │ ├── test_time_aware_observation.py │ ├── test_transform_observation.py │ ├── test_transform_reward.py │ ├── tests │ └── __init__.py │ ├── time_aware_observation.py │ ├── time_limit.py │ ├── transform_observation.py │ └── transform_reward.py ├── hyperparams ├── a2c.yml ├── ddpg.yml ├── dqn.yml ├── her.yml ├── ppo.yml ├── qrdqn.yml ├── sac.yml ├── td3.yml └── tqc.yml ├── main.py ├── main_ant.py ├── misc ├── __init__.py ├── array.py └── util.py ├── models ├── __init__.py ├── cvae.py ├── modular_ac.py ├── relational.py ├── rnn.py ├── simple_nn.py └── world_models.py ├── random_hallucinator.py ├── resources ├── ant │ ├── ant-craft.png │ └── map.png ├── box │ ├── all_colors.png │ └── test_set.pickle └── craft │ ├── Icon │ ├── agent.png │ ├── axe.png │ ├── bed.png │ ├── boundaries.png │ ├── bridges.png │ ├── factory.png │ ├── gem.png │ ├── gold.png │ ├── grass.png │ ├── green_arrow.png │ ├── iron.png │ ├── ladder.png │ ├── plank.png │ ├── red_arrow.png │ ├── rope.png │ ├── shears.png │ ├── spec.json │ ├── start.png │ ├── stick.png │ ├── stone.png │ ├── toolshed.png │ ├── tree.png │ ├── tshirt.png │ ├── water.png │ └── workbench.png │ ├── recipes.yaml │ └── test_set.pickle ├── sb3_contrib ├── __init__.py ├── common │ ├── __init__.py │ ├── utils.py │ └── wrappers │ │ ├── __init__.py │ │ └── time_feature.py ├── py.typed ├── qrdqn │ ├── __init__.py │ ├── policies.py │ └── qrdqn.py ├── tqc │ ├── __init__.py │ ├── policies.py │ └── tqc.py └── version.txt ├── stable_baselines3 ├── __init__.py ├── a2c │ ├── __init__.py │ ├── a2c.py │ └── policies.py ├── common │ ├── __init__.py │ ├── atari_wrappers.py │ ├── base_class.py │ ├── bit_flipping_env.py │ ├── buffers.py │ ├── callbacks.py │ ├── cmd_util.py │ ├── distributions.py │ ├── env_checker.py │ ├── env_util.py │ ├── evaluation.py │ ├── identity_env.py │ ├── logger.py │ ├── monitor.py │ ├── noise.py │ ├── off_policy_algorithm.py │ ├── on_policy_algorithm.py │ ├── policies.py │ ├── preprocessing.py │ ├── results_plotter.py │ ├── running_mean_std.py │ ├── save_util.py │ ├── sb2_compat │ │ ├── __init__.py │ │ └── rmsprop_tf_like.py │ ├── torch_layers.py │ ├── type_aliases.py │ ├── utils.py │ └── vec_env │ │ ├── __init__.py │ │ ├── base_vec_env.py │ │ ├── dummy_vec_env.py │ │ ├── obs_dict_wrapper.py │ │ ├── subproc_vec_env.py │ │ ├── util.py │ │ ├── vec_check_nan.py │ │ ├── vec_frame_stack.py │ │ ├── vec_normalize.py │ │ ├── vec_transpose.py │ │ └── vec_video_recorder.py ├── ddpg │ ├── __init__.py │ ├── ddpg.py │ └── policies.py ├── dqn │ ├── __init__.py │ ├── dqn.py │ └── policies.py ├── her │ ├── __init__.py │ ├── goal_selection_strategy.py │ ├── her.py │ └── her_replay_buffer.py ├── ppo │ ├── __init__.py │ ├── policies.py │ └── ppo.py ├── py.typed ├── sac │ ├── __init__.py │ ├── policies.py │ └── sac.py ├── td3 │ ├── __init__.py │ ├── policies.py │ └── td3.py └── version.txt ├── synthesizer ├── __init__.py ├── box_solver.py └── solver.py ├── train_baseline.py ├── train_cvae.py ├── train_world_models.py ├── trainers ├── __init__.py └── partial.py └── utils ├── __init__.py ├── benchmark.py 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