import numpy as np

import torch
import torch.nn as nn
import torch.nn.functional as F
from torch.autograd import Variable

from rlkit.torch.core import PyTorchModule
from rlkit.torch.networks import Mlp

from rlkit.torch import pytorch_util as ptu
from rlkit.torch.torch_meta_irl_algorithm import np_to_pytorch_batch
from rlkit.torch.irl.encoders.aggregators import sum_aggregator_unmasked, tanh_sum_aggregator_unmasked
from rlkit.torch.irl.encoders.aggregators import sum_aggregator, tanh_sum_aggregator
from rlkit.torch.distributions import ReparamMultivariateNormalDiag
