├── .github └── workflows │ └── main.yml ├── .gitignore ├── .gitmodules ├── ILSwiss ├── .gitignore ├── LICENSE ├── __init__.py ├── demos_listing.yaml ├── exp_specs │ ├── bc │ │ └── bc_smarts_ngsim.yaml │ ├── discrete_sac │ │ └── discrete_sac_spread.yaml │ ├── evaluate │ │ ├── eval_gail_ppuu.yaml │ │ ├── eval_gail_smarts.yaml │ │ ├── eval_gail_smarts_control_3.yaml │ │ ├── visualize_gail_ppuu.yaml │ │ ├── visualize_gail_smarts.yaml │ │ ├── visualize_gail_smarts_all_scenarios_cutin.yaml │ │ ├── visualize_gail_smarts_cutin.yaml │ │ └── visualize_infogail_smarts_all_scenarios_cutin.yaml │ ├── gail │ │ ├── airl_humanoid.yaml │ │ ├── gail_hopper.yaml │ │ ├── gail_humanoid.yaml │ │ ├── gail_ppuu.yaml │ │ ├── gail_smarts_all_scenarios_radius.yaml │ │ ├── gail_smarts_all_scenarios_radius_cutin.yaml │ │ ├── gail_smarts_all_scenarios_radius_cutin_divide_ttc_1.yaml │ │ ├── gail_smarts_i80_lane.yaml │ │ ├── gail_smarts_i80_radius.yaml │ │ ├── gail_smarts_i80_radius_cutin.yaml │ │ ├── gail_smarts_us101_radius.yaml │ │ ├── gail_smarts_us101_radius_cutin.yaml │ │ ├── gail_walker.yaml │ │ ├── gailfo_ppuu.yaml │ │ ├── gailfo_smarts_lane.yaml │ │ └── magailfo_smarts.yaml │ ├── gen_cutin_expert │ │ ├── smarts_all_scenarios_radius.yaml │ │ ├── smarts_i80_radius.yaml │ │ └── smarts_us101_radius.yaml │ ├── gen_expert │ │ ├── bipe.yaml │ │ ├── hopper.yaml │ │ ├── lunar.yaml │ │ ├── mountain.yaml │ │ ├── pendulum.yaml │ │ ├── ppuu.yaml │ │ ├── smarts_all_scenarios_radius.yaml │ │ ├── smarts_i80_radius.yaml │ │ └── smarts_us101_radius.yaml │ ├── infogail │ │ └── infogail_smarts_all_scenarios_radius_cutin.yaml │ ├── ppo │ │ ├── ppo_halfcheetah.yaml │ │ ├── ppo_hopper.yaml │ │ ├── ppo_hopper_tanh.yaml │ │ └── ppo_pendulum.yaml │ ├── sac │ │ ├── sac_gym_pendulum.yaml │ │ ├── sac_halfcheetah.yaml │ │ ├── sac_hopper.yaml │ │ ├── sac_humanoid.yaml │ │ ├── sac_inverted_double.yaml │ │ ├── sac_lunar.yaml │ │ ├── sac_mountain.yaml │ │ ├── sac_particle.yaml │ │ ├── sac_pendulum.yaml │ │ ├── sac_swimmer.yaml │ │ └── sac_walker.yaml │ └── td3 │ │ ├── td3_hopper.yaml │ │ └── td3_humanoid.yaml ├── requirements.txt ├── rlkit │ ├── __init__.py │ ├── core │ │ ├── __init__.py │ │ ├── base_algorithm.py │ │ ├── eval_util.py │ │ ├── logger.py │ │ ├── serializable.py │ │ ├── tabulate.py │ │ ├── train_util.py │ │ ├── trainer.py │ │ └── vistools.py │ ├── data_management │ │ ├── __init__.py │ │ ├── env_replay_buffer.py │ │ ├── episodic_replay_buffer.py │ │ ├── mil_color_print.py │ │ ├── mil_utils.py │ │ ├── neural_process_data_sampler.py │ │ ├── normalizer.py │ │ ├── path_builder.py │ │ ├── replay_buffer.py │ │ └── simple_replay_buffer.py │ ├── env_creators │ │ ├── __init__.py │ │ ├── base_env.py │ │ ├── gym │ │ │ ├── __init__.py │ │ │ └── gym_env.py │ │ ├── mpe │ │ │ ├── __init__.py │ │ │ └── mpe_env.py │ │ ├── mujoco │ │ │ ├── __init__.py │ │ │ └── mujoco_env.py │ │ ├── particle │ │ │ ├── __init__.py │ │ │ ├── particle_env.py │ │ │ └── tests │ │ │ │ └── test_env.py │ │ ├── ppuu │ │ │ ├── __init__.py │ │ │ └── ppuu_env.py │ │ └── smarts │ │ │ ├── __init__.py │ │ │ └── smarts_env.py │ ├── envs │ │ ├── __init__.py │ │ ├── tasks_dict.py │ │ ├── vanilla_point_mass_env.py │ │ ├── vecenvs.py │ │ ├── worker │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── dummy.py │ │ │ ├── subproc.py │ │ │ └── utils.py │ │ └── wrappers.py │ ├── exploration_strategies │ │ ├── __init__.py │ │ ├── base.py │ │ ├── epsilon_greedy.py │ │ ├── gaussian_strategy.py │ │ └── ou_strategy.py │ ├── launchers │ │ ├── __init__.py │ │ ├── config.py │ │ └── launcher_util.py │ ├── policies │ │ ├── __init__.py │ │ ├── argmax.py │ │ ├── base.py │ │ └── simple.py │ ├── samplers │ │ └── __init__.py │ ├── scripted_experts │ │ ├── __init__.py │ │ └── scripted_policy.py │ └── torch │ │ ├── __init__.py │ │ ├── algorithms │ │ ├── __init__.py │ │ ├── adv_irl │ │ │ ├── __init__.py │ │ │ ├── adv_irl.py │ │ │ └── disc_models │ │ │ │ ├── __init__.py │ │ │ │ ├── rnn_disc_models.py │ │ │ │ └── simple_disc_models.py │ │ ├── bc │ │ │ ├── __init__.py │ │ │ └── bc.py │ │ ├── dagger │ │ │ ├── __init__.py │ │ │ └── dagger.py │ │ ├── ddpg │ │ │ ├── __init__.py │ │ │ └── ddpg.py │ │ ├── discrete_sac │ │ │ ├── __init__.py │ │ │ └── discrete_sac.py │ │ ├── dqn │ │ │ ├── __init__.py │ │ │ ├── double_dqn.py │ │ │ └── dqn.py │ │ ├── gen_exp_traj_algorithm.py │ │ ├── info_adv_irl │ │ │ ├── __init__.py │ │ │ ├── distributions.py │ │ │ ├── info_adv_irl.py │ │ │ ├── posterior_models │ │ │ │ ├── __init__.py │ │ │ │ ├── posterior_trainer.py │ │ │ │ └── simple_posterior_models.py │ │ │ └── replay_buffer.py │ │ ├── ma_adv_irl │ │ │ ├── __init__.py │ │ │ └── ma_adv_irl.py │ │ ├── ppo │ │ │ ├── __init__.py │ │ │ └── ppo.py │ │ ├── sac │ │ │ ├── __init__.py │ │ │ ├── conditional_sac_alpha.py │ │ │ ├── sac.py │ │ │ └── sac_alpha.py │ │ ├── sql │ │ │ ├── __init__.py │ │ │ ├── policies.py │ │ │ └── sql.py │ │ ├── td3 │ │ │ ├── __init__.py │ │ │ └── td3.py │ │ ├── torch_base_algorithm.py │ │ └── torch_rl_algorithm.py │ │ ├── common │ │ ├── distributions.py │ │ ├── loss.py │ │ ├── modules.py │ │ ├── networks.py │ │ └── policies.py │ │ ├── core.py │ │ └── utils │ │ ├── __init__.py │ │ ├── normalizer.py │ │ └── pytorch_util.py ├── run_experiment.py ├── run_scripts │ ├── adv_irl_exp_script.py │ ├── bc_exp_script.py │ ├── dagger_exp_script.py │ ├── discrete_sac_exp_script.py │ ├── evaluate_policy.py │ ├── gen_ppuu_demos.py │ ├── gen_smarts_cutin_demos.py │ ├── gen_smarts_demos.py │ ├── info_adv_irl_exp_script.py │ ├── ma_adv_irl_exp_script.py │ ├── ppo_exp_script.py │ ├── render_algorithm.py │ ├── sac_alpha_exp_script.py │ ├── sac_exp_script.py │ ├── td3_exp_script.py │ ├── to_cpp_model.py │ ├── video.py │ ├── visualize_ppuu.py │ ├── visualize_smarts.py │ ├── visualize_smarts_history.py │ └── visualize_smarts_infogail.py └── scripts │ ├── normalize_exp_demos.py │ └── plot_demo_stats.py ├── LICENSE ├── README.md ├── pytorch-PPUU ├── .gitignore ├── LICENSE ├── compute_kl_dp.py ├── compute_kl_gail.py ├── 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