├── .gitignore ├── LICENSE ├── README.md ├── __pycache__ ├── dual_hist_encoder.cpython-38.pyc └── transformer_modelling.cpython-38.pyc ├── adaptivity.py ├── all_radar_adaptivity.jpg ├── dual_hist_encoder.py ├── legged_gym ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-310.pyc │ └── __init__.cpython-38.pyc ├── envs │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ └── __init__.cpython-38.pyc │ ├── a1 │ │ ├── __pycache__ │ │ │ ├── a1_config.cpython-310.pyc │ │ │ └── a1_config.cpython-38.pyc │ │ ├── a1_config.py │ │ └── a1_pos_config.py │ ├── anymal_b │ │ ├── __pycache__ │ │ │ └── anymal_b_config.cpython-38.pyc │ │ └── anymal_b_config.py │ ├── anymal_c │ │ ├── __pycache__ │ │ │ └── anymal.cpython-38.pyc │ │ ├── anymal.py │ │ ├── flat │ │ │ ├── __pycache__ │ │ │ │ └── anymal_c_flat_config.cpython-38.pyc │ │ │ └── anymal_c_flat_config.py │ │ └── mixed_terrains │ │ │ ├── __pycache__ │ │ │ └── anymal_c_rough_config.cpython-38.pyc │ │ │ └── anymal_c_rough_config.py │ ├── base │ │ ├── __pycache__ │ │ │ ├── base_config.cpython-310.pyc │ │ │ ├── base_config.cpython-38.pyc │ │ │ ├── base_task.cpython-38.pyc │ │ │ ├── legged_robot.cpython-310.pyc │ │ │ ├── legged_robot.cpython-38.pyc │ │ │ ├── legged_robot_config.cpython-310.pyc │ │ │ └── legged_robot_config.cpython-38.pyc │ │ ├── base_config.py │ │ ├── base_task.py │ │ ├── dev_legged_robot.py │ │ ├── dev_legged_robot_config.py │ │ ├── legged_robot.py │ │ ├── legged_robot_config.py │ │ └── legged_robot_pos_config.py │ ├── cassie │ │ ├── __pycache__ │ │ │ ├── cassie.cpython-38.pyc │ │ │ └── cassie_config.cpython-38.pyc │ │ ├── cassie.py │ │ └── cassie_config.py │ └── h1 │ │ ├── __pycache__ │ │ └── h1_config.cpython-38.pyc │ │ └── h1_config.py ├── scripts │ ├── bash_eval.sh │ ├── eval_dual.py │ ├── eval_student.py │ ├── play.py │ ├── train_dual.py │ ├── train_student.py │ ├── train_teacher.py │ └── train_transformer_policy.py ├── tests │ └── test_env.py └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── helpers.cpython-38.pyc │ ├── isaacgym_utils.cpython-38.pyc │ ├── logger.cpython-38.pyc │ ├── math.cpython-38.pyc │ ├── task_registry.cpython-38.pyc │ └── terrain.cpython-38.pyc │ ├── helpers.py │ ├── isaacgym_utils.py │ ├── logger.py │ ├── math.py │ ├── task_registry.py │ └── terrain.py ├── licenses ├── assets │ ├── ANYmal_b_license.txt │ ├── ANYmal_c_license.txt │ ├── a1_license.txt │ └── cassie_license.txt └── dependencies │ └── matplotlib_license.txt ├── radar_adaptivity.jpg ├── radar_adaptivity.png ├── rough_radar_adaptivity.jpg ├── rsl_rl ├── __init__.py ├── __pycache__ │ └── __init__.cpython-38.pyc ├── algorithms │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── ppo.cpython-38.pyc │ └── ppo.py ├── env │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── vec_env.cpython-38.pyc │ └── vec_env.py ├── modules │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── actor_critic.cpython-38.pyc │ │ ├── actor_critic_dual.cpython-38.pyc │ │ ├── actor_critic_new.cpython-38.pyc │ │ ├── actor_critic_recurrent.cpython-38.pyc │ │ ├── actor_critic_student.cpython-38.pyc │ │ ├── actor_critic_teacher.cpython-38.pyc │ │ └── actor_critic_transformer.cpython-38.pyc │ ├── actor_critic.py │ ├── actor_critic_dual.py │ ├── actor_critic_recurrent.py │ ├── actor_critic_student.py │ ├── actor_critic_teacher.py │ └── actor_critic_transformer.py ├── runners │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── dual_policy_runner.cpython-38.pyc │ │ ├── new_policy_runner.cpython-38.pyc │ │ ├── on_policy_runner.cpython-38.pyc │ │ ├── student_policy_runner.cpython-38.pyc │ │ ├── teacher_policy_runner.cpython-38.pyc │ │ └── transformer_policy_runner.cpython-38.pyc │ ├── dual_policy_runner.py │ ├── on_policy_runner.py │ ├── student_policy_inference_runner.py │ ├── student_policy_runner.py │ ├── teacher_policy_runner.py │ 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