MTRF/r3l/r3l/r3l_envs/inhand_env/multi_phase.py (5 lines):
	- line 102: # TODO: This is just defaulting to training all phases right now
	- line 245: horizon = 100  # TODO: fix this
	- line 262: # TODO: Is this correct logic? This would basically ignore the policy
	- line 286: # TODO: Check the hand is reset properly
	- line 313: # TODO: Not sure which reset to use here.


MTRF/algorithms/softlearning/algorithms/multi_sac.py (4 lines):
	- line 356: # TODO: Clean up these two updates, lots of redundancy
	- line 952: self._training_environment.set_goal(self._goal_index) # TODO: implement in env
	- line 1029: # TODO diagnostics per goal
	- line 1167: # TODO: interleave videos from different policies


MTRF/algorithms/softlearning/models/convnet.py (4 lines):
	- line 118: # TODO: Why is the image being converted to float32 twice? Once in the
	- line 133: # TODO: Fix this; redundant, since I'm going to reflatten it later
	- line 171: # TODO: Implement this with `feedforward` network
	- line 246: # TODO: generalize this to diffenent padding types (only works for


MTRF/algorithms/softlearning/algorithms/phased_sac.py (4 lines):
	- line 679: # TODO: Change this to phases
	- line 683: self._training_environment.env.set_goal(self._goal_index) # TODO: implement in env
	- line 699: new_goal_index = self._training_environment.env.task_graph() # TODO: Change this to call (check current phase)
	- line 945: # TODO: interleave videos from different policies


MTRF/r3l/r3l/r3l_envs/base_env/base_env_deltapos.py (4 lines):
	- line 148: # TODO: Move this elsewhere
	- line 262: # TODO: Move this into object.py
	- line 340: # TODO: this currently only works for the rod
	- line 363: # TODO: Removed this due to releasing the object (move releasing for


MTRF/algorithms/softlearning/environments/gym/mujoco/pusher_2d.py (2 lines):
	- line 300: # TODO: remnants from rllab -> gym conversion
	- line 406: # TODO: remnants from rllab -> gym conversion


MTRF/algorithms/config/ray-autoscaler-ec2.yaml (2 lines):
	- line 55: ImageId: <TODO:AMI>
	- line 72: ImageId: <TODO:AMI>


MTRF/algorithms/softlearning/distributions/real_nvp_flow.py (2 lines):
	- line 49: ValueError: if TODO happens
	- line 87: # TODO: test tf.nn.relu


MTRF/algorithms/softlearning/replay_pools/union_pool.py (1 line):
	- line 29: # TODO: Hack


MTRF/algorithms/softlearning/preprocessors/vae_preprocessor.py (1 line):
	- line 36: # TODO: Be able to specify convnet params, do this with `convnet.py`


MTRF/algorithms/softlearning/environments/gym/wrappers/pixel_observation.py (1 line):
	- line 132: # TODO: Do this anti-aliasing in Mujoco render instead


MTRF/r3l/r3l/r3l_envs/inhand_env/reposition.py (1 line):
	- line 62: # TODO: Move these into base.py


MTRF/algorithms/softlearning/environments/gym/mujoco/image_pusher_2d.py (1 line):
	- line 126: # TODO: remnants from rllab -> gym conversion


MTRF/r3l/r3l/r3l_envs/inhand_env/rotate.py (1 line):
	- line 169: reposition_only=True,  # TODO: this flag is a little confusing


MTRF/r3l/r3l/r3l_envs/inhand_env/bulb.py (1 line):
	- line 187: # TODO: this logic of replacing the sawyer x euler velocity lim is sketchy


MTRF/r3l/r3l/r3l_envs/base_env/mujoco_env.py (1 line):
	- line 141: # TODO: Figure out what in the environment is causing the Mujoco errors.


MTRF/r3l/r3l/utils/quatmath.py (1 line):
	- line 123: # TODO: vectorize this -- probably could be made faster


MTRF/algorithms/softlearning/preprocessors/rae_preprocessor.py (1 line):
	- line 127: # TODO: Create an abstract interface for preprocessors


MTRF/r3l/r3l/robot/default_configs.py (1 line):
	- line 49: # TODO: figure out correct calibrations for these


MTRF/algorithms/softlearning/replay_pools/prioritized_experience_replay_pool.py (1 line):
	- line 62: ## TODO: check if screw has moved within path


MTRF/r3l/r3l/robot/sawyer_robot.py (1 line):
	- line 231: # TODO: Get this right


MTRF/algorithms/softlearning/models/autoencoder_models.py (1 line):
	- line 126: #TODO Avi maybe add temperature here


MTRF/r3l/r3l/r3l_envs/base_env/base_env.py (1 line):
	- line 31: # TODO: Need to change this to bias things


MTRF/algorithms/softlearning/algorithms/rl_algorithm.py (1 line):
	- line 403: # TODO: This needs testing


MTRF/r3l/r3l/utils/mocap_utils.py (1 line):
	- line 49: # TODO: How to handle asymmetric ranges where one side should be allowed


MTRF/r3l/r3l/robot/object.py (1 line):
	- line 65: # TODO: Need to fix the OptiTrack axes?