├── .gitignore ├── LICENSE ├── README.md ├── assets ├── main_result.png ├── overview.png ├── overview_gleambench.png └── statistic.png ├── data_gleam ├── README.md └── unified_preprocess.py ├── gleam ├── __init__.py ├── callback.py ├── env │ ├── config_gleam.py │ ├── config_gleam_eval.py │ ├── config_legged_visual.py │ ├── env_base.py │ ├── env_gleam_base.py │ ├── env_gleam_eval.py │ ├── env_gleam_stage1.py │ └── env_gleam_stage2.py ├── network │ ├── base.py │ ├── encoder.py │ ├── init.py │ └── locotransformer.py ├── test │ └── test_gleam_gleambench.py ├── train │ ├── __init__.py │ ├── train_gleam_stage1.py │ └── train_gleam_stage2.py ├── utils │ ├── bfs_cuda_2D.cpp │ ├── bfs_cuda_2D.h │ ├── bfs_cuda_kernel_2D.cu │ └── utils.py └── wrapper │ └── env_wrapper_gleam.py ├── legged_gym ├── __init__.py ├── env │ ├── __init__.py │ ├── a1 │ │ └── a1_config.py │ ├── anymal_b │ │ └── anymal_b_config.py │ ├── anymal_c │ │ ├── anymal.py │ │ ├── flat │ │ │ └── anymal_c_flat_config.py │ │ └── mixed_terrains │ │ │ └── anymal_c_rough_config.py │ └── base │ │ ├── base_config.py │ │ ├── base_task.py │ │ ├── drone_robot.py │ │ ├── drone_robot_visual.py │ │ ├── legged_robot.py │ │ └── legged_robot_config.py ├── scripts │ ├── play.py │ └── train.py ├── tests │ └── test_env.py └── utils │ ├── __init__.py │ ├── helpers.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 ├── requirements.txt ├── resources └── robots │ └── drone │ ├── cf2.dae │ └── cf2x.urdf ├── rsl_rl ├── __init__.py ├── algorithms │ ├── __init__.py │ └── ppo.py ├── env │ ├── __init__.py │ └── vec_env.py ├── modules │ ├── __init__.py │ ├── actor_critic.py │ └── actor_critic_recurrent.py ├── runners │ ├── __init__.py │ └── on_policy_runner.py ├── storage │ ├── __init__.py │ └── rollout_storage.py └── utils │ ├── __init__.py │ └── utils.py ├── setup.py ├── stable_baselines3 ├── __init__.py ├── a2c │ ├── __init__.py │ ├── a2c.py │ └── policies.py ├── common │ ├── __init__.py │ ├── atari_wrappers.py │ ├── base_class.py │ ├── base_class_grid_obs.py │ ├── buffers.py │ ├── callbacks.py │ ├── callbacks_gleam.py │ ├── distributions.py │ ├── env_checker.py │ ├── env_util.py │ ├── envs │ │ ├── __init__.py │ │ ├── bit_flipping_env.py │ │ ├── identity_env.py │ │ └── multi_input_envs.py │ ├── evaluation.py │ ├── evaluation_gleam.py │ ├── logger.py │ ├── monitor.py │ ├── noise.py │ ├── off_policy_algorithm.py │ ├── on_policy_algorithm.py │ ├── on_policy_algorithm_grid_obs.py │ ├── on_policy_algorithm_hybrid_act.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 │ │ ├── stacked_observations.py │ │ ├── subproc_vec_env.py │ │ ├── util.py │ │ ├── vec_check_nan.py │ │ ├── vec_extract_dict_obs.py │ │ ├── vec_frame_stack.py │ │ ├── vec_monitor.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_replay_buffer.py ├── ppo │ ├── __init__.py │ ├── policies.py │ ├── ppo.py │ ├── ppo_grid_hybrid_action.py │ ├── ppo_grid_obs.py │ ├── ppo_occant.py │ └── ppo_test.py ├── sac │ ├── __init__.py │ ├── policies.py │ └── sac.py ├── td3 │ ├── __init__.py │ ├── policies.py │ └── td3.py ├── utils.py └── version.txt └── wandb_utils ├── __init__.py ├── wandb_api_key_file.txt └── wandb_callback.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zjwzcx/GLEAM/HEAD/.gitignore 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