├── README.md ├── cfgs ├── default.yaml └── task │ ├── acrobot_swingup.yaml │ ├── cartpole_balance.yaml │ ├── cartpole_balance_sparse.yaml │ ├── cartpole_swingup.yaml │ ├── cartpole_swingup_sparse.yaml │ ├── cheetah_run.yaml │ ├── cup_catch.yaml │ ├── dog_run.yaml │ ├── dog_stand.yaml │ ├── dog_trot.yaml │ ├── dog_walk.yaml │ ├── easy.yaml │ ├── finger_spin.yaml │ ├── finger_turn_easy.yaml │ ├── finger_turn_hard.yaml │ ├── fish_swim.yaml │ ├── fish_upright.yaml │ ├── hard.yaml │ ├── hopper_hop.yaml │ ├── hopper_stand.yaml │ ├── humanoid_run.yaml │ ├── humanoid_stand.yaml │ ├── humanoid_walk.yaml │ ├── mass_easy.yaml │ ├── mass_hard.yaml │ ├── medium.yaml │ ├── pendulum_swingup.yaml │ ├── quadruped_run.yaml │ ├── quadruped_walk.yaml │ ├── reacher_easy.yaml │ ├── reacher_hard.yaml │ ├── swimme_swimmer15.yaml │ ├── swimme_swimmer6.yaml │ ├── walker-stand.yaml │ ├── walker_run.yaml │ └── walker_walk.yaml ├── environment.yaml ├── main.py ├── media ├── TCRL.png ├── acrobot_swingup.gif ├── cartpole_swingup.gif ├── cheetah_run.gif ├── cup_catch.gif ├── dog_run.gif ├── fish_swim.gif ├── hopper_stand.gif ├── humanoid_walk.gif ├── pendulum_swingup.gif ├── quadruped_walk.gif ├── reacher_hard.gif └── walker_run.gif ├── results ├── plot.ipynb ├── results.png └── tcrl.csv ├── tcrl.py ├── train.sh └── utils ├── __init__.py ├── __pycache__ ├── __init__.cpython-310.pyc ├── __init__.cpython-38.pyc ├── __init__.cpython-39.pyc ├── buffer.cpython-310.pyc ├── buffer.cpython-38.pyc ├── buffer.cpython-39.pyc ├── env.cpython-310.pyc ├── env.cpython-38.pyc ├── env.cpython-39.pyc ├── eval.cpython-310.pyc ├── eval.cpython-38.pyc ├── eval.cpython-39.pyc ├── helper.cpython-310.pyc ├── helper.cpython-38.pyc ├── helper.cpython-39.pyc ├── logger.cpython-310.pyc ├── logger.cpython-38.pyc ├── logger.cpython-39.pyc ├── net.cpython-310.pyc ├── net.cpython-38.pyc ├── net.cpython-39.pyc ├── video.cpython-310.pyc ├── video.cpython-38.pyc └── video.cpython-39.pyc ├── buffer.py ├── env.py ├── eval.py ├── helper.py ├── logger.py ├── net.py └── video.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/README.md -------------------------------------------------------------------------------- /cfgs/default.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/default.yaml -------------------------------------------------------------------------------- /cfgs/task/acrobot_swingup.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/acrobot_swingup.yaml -------------------------------------------------------------------------------- /cfgs/task/cartpole_balance.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/cartpole_balance.yaml -------------------------------------------------------------------------------- /cfgs/task/cartpole_balance_sparse.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/cartpole_balance_sparse.yaml -------------------------------------------------------------------------------- /cfgs/task/cartpole_swingup.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/cartpole_swingup.yaml -------------------------------------------------------------------------------- /cfgs/task/cartpole_swingup_sparse.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/cartpole_swingup_sparse.yaml -------------------------------------------------------------------------------- /cfgs/task/cheetah_run.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/cheetah_run.yaml -------------------------------------------------------------------------------- /cfgs/task/cup_catch.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/cup_catch.yaml -------------------------------------------------------------------------------- /cfgs/task/dog_run.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/dog_run.yaml -------------------------------------------------------------------------------- /cfgs/task/dog_stand.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/dog_stand.yaml -------------------------------------------------------------------------------- /cfgs/task/dog_trot.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/dog_trot.yaml -------------------------------------------------------------------------------- /cfgs/task/dog_walk.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/dog_walk.yaml -------------------------------------------------------------------------------- /cfgs/task/easy.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/easy.yaml -------------------------------------------------------------------------------- /cfgs/task/finger_spin.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/finger_spin.yaml -------------------------------------------------------------------------------- /cfgs/task/finger_turn_easy.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/finger_turn_easy.yaml -------------------------------------------------------------------------------- /cfgs/task/finger_turn_hard.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/finger_turn_hard.yaml -------------------------------------------------------------------------------- /cfgs/task/fish_swim.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/fish_swim.yaml -------------------------------------------------------------------------------- /cfgs/task/fish_upright.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/fish_upright.yaml -------------------------------------------------------------------------------- /cfgs/task/hard.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/hard.yaml -------------------------------------------------------------------------------- /cfgs/task/hopper_hop.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/hopper_hop.yaml -------------------------------------------------------------------------------- /cfgs/task/hopper_stand.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/hopper_stand.yaml -------------------------------------------------------------------------------- /cfgs/task/humanoid_run.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/humanoid_run.yaml -------------------------------------------------------------------------------- /cfgs/task/humanoid_stand.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/humanoid_stand.yaml -------------------------------------------------------------------------------- /cfgs/task/humanoid_walk.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/humanoid_walk.yaml -------------------------------------------------------------------------------- /cfgs/task/mass_easy.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/mass_easy.yaml -------------------------------------------------------------------------------- /cfgs/task/mass_hard.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/mass_hard.yaml -------------------------------------------------------------------------------- /cfgs/task/medium.yaml: -------------------------------------------------------------------------------- 1 | train_episode: 1000 2 | latent_dim: 50 3 | std_schedule: linear(1.0, 0.1, 150) -------------------------------------------------------------------------------- /cfgs/task/pendulum_swingup.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/pendulum_swingup.yaml -------------------------------------------------------------------------------- /cfgs/task/quadruped_run.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/quadruped_run.yaml -------------------------------------------------------------------------------- /cfgs/task/quadruped_walk.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/quadruped_walk.yaml -------------------------------------------------------------------------------- /cfgs/task/reacher_easy.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/reacher_easy.yaml -------------------------------------------------------------------------------- /cfgs/task/reacher_hard.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/reacher_hard.yaml -------------------------------------------------------------------------------- /cfgs/task/swimme_swimmer15.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/swimme_swimmer15.yaml -------------------------------------------------------------------------------- /cfgs/task/swimme_swimmer6.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/swimme_swimmer6.yaml -------------------------------------------------------------------------------- /cfgs/task/walker-stand.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/walker-stand.yaml -------------------------------------------------------------------------------- /cfgs/task/walker_run.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/walker_run.yaml -------------------------------------------------------------------------------- /cfgs/task/walker_walk.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/cfgs/task/walker_walk.yaml -------------------------------------------------------------------------------- /environment.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/environment.yaml -------------------------------------------------------------------------------- /main.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/main.py -------------------------------------------------------------------------------- /media/TCRL.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/TCRL.png -------------------------------------------------------------------------------- /media/acrobot_swingup.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/acrobot_swingup.gif -------------------------------------------------------------------------------- /media/cartpole_swingup.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/cartpole_swingup.gif -------------------------------------------------------------------------------- /media/cheetah_run.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/cheetah_run.gif -------------------------------------------------------------------------------- /media/cup_catch.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/cup_catch.gif -------------------------------------------------------------------------------- /media/dog_run.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/dog_run.gif -------------------------------------------------------------------------------- /media/fish_swim.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/fish_swim.gif -------------------------------------------------------------------------------- /media/hopper_stand.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/hopper_stand.gif -------------------------------------------------------------------------------- /media/humanoid_walk.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/humanoid_walk.gif -------------------------------------------------------------------------------- /media/pendulum_swingup.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/pendulum_swingup.gif -------------------------------------------------------------------------------- /media/quadruped_walk.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/quadruped_walk.gif -------------------------------------------------------------------------------- /media/reacher_hard.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/reacher_hard.gif -------------------------------------------------------------------------------- /media/walker_run.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/media/walker_run.gif -------------------------------------------------------------------------------- /results/plot.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/results/plot.ipynb -------------------------------------------------------------------------------- /results/results.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/results/results.png -------------------------------------------------------------------------------- /results/tcrl.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/results/tcrl.csv -------------------------------------------------------------------------------- /tcrl.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/tcrl.py -------------------------------------------------------------------------------- /train.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/train.sh -------------------------------------------------------------------------------- /utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__init__.py -------------------------------------------------------------------------------- /utils/__pycache__/__init__.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/__init__.cpython-310.pyc -------------------------------------------------------------------------------- /utils/__pycache__/__init__.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/__init__.cpython-38.pyc -------------------------------------------------------------------------------- /utils/__pycache__/__init__.cpython-39.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/__init__.cpython-39.pyc -------------------------------------------------------------------------------- /utils/__pycache__/buffer.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/buffer.cpython-310.pyc -------------------------------------------------------------------------------- /utils/__pycache__/buffer.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/buffer.cpython-38.pyc -------------------------------------------------------------------------------- /utils/__pycache__/buffer.cpython-39.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/buffer.cpython-39.pyc -------------------------------------------------------------------------------- /utils/__pycache__/env.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/env.cpython-310.pyc -------------------------------------------------------------------------------- /utils/__pycache__/env.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/env.cpython-38.pyc -------------------------------------------------------------------------------- /utils/__pycache__/env.cpython-39.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/env.cpython-39.pyc -------------------------------------------------------------------------------- /utils/__pycache__/eval.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/eval.cpython-310.pyc -------------------------------------------------------------------------------- /utils/__pycache__/eval.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/eval.cpython-38.pyc -------------------------------------------------------------------------------- /utils/__pycache__/eval.cpython-39.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/eval.cpython-39.pyc -------------------------------------------------------------------------------- /utils/__pycache__/helper.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/helper.cpython-310.pyc -------------------------------------------------------------------------------- /utils/__pycache__/helper.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/helper.cpython-38.pyc -------------------------------------------------------------------------------- /utils/__pycache__/helper.cpython-39.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/helper.cpython-39.pyc -------------------------------------------------------------------------------- /utils/__pycache__/logger.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/logger.cpython-310.pyc -------------------------------------------------------------------------------- /utils/__pycache__/logger.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/logger.cpython-38.pyc -------------------------------------------------------------------------------- /utils/__pycache__/logger.cpython-39.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/logger.cpython-39.pyc -------------------------------------------------------------------------------- /utils/__pycache__/net.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/net.cpython-310.pyc -------------------------------------------------------------------------------- /utils/__pycache__/net.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/net.cpython-38.pyc -------------------------------------------------------------------------------- /utils/__pycache__/net.cpython-39.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/net.cpython-39.pyc -------------------------------------------------------------------------------- /utils/__pycache__/video.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/video.cpython-310.pyc -------------------------------------------------------------------------------- /utils/__pycache__/video.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/video.cpython-38.pyc -------------------------------------------------------------------------------- /utils/__pycache__/video.cpython-39.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/__pycache__/video.cpython-39.pyc -------------------------------------------------------------------------------- /utils/buffer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/buffer.py -------------------------------------------------------------------------------- /utils/env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/env.py -------------------------------------------------------------------------------- /utils/eval.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/eval.py -------------------------------------------------------------------------------- /utils/helper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/helper.py -------------------------------------------------------------------------------- /utils/logger.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/logger.py -------------------------------------------------------------------------------- /utils/net.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/net.py -------------------------------------------------------------------------------- /utils/video.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhaoyi11/tcrl/HEAD/utils/video.py --------------------------------------------------------------------------------