Implicit Behavioral Cloning – PyTorch
Pytorch implementation of Implicit Behavioral Cloning.
Install
conda create -n ibc python=3.8
pip install -r requirements.txt
Results
To reproduce results from the Coordinate Regression Task (Section 3), execute the run_explicit.sh and run_implicit.sh scripts. Note that the implicit policy does a tad bit worst with 30 examples than 10. Not entirely sure why that is the case and need to investigate more.
| Explicit Policy | Implicit Policy | |
|---|---|---|
| 10 examples |  |
 |
| 30 examples |  |
 |
Citation
@misc{florence2021implicit,
title = {Implicit Behavioral Cloning},
author = {Pete Florence and Corey Lynch and Andy Zeng and Oscar Ramirez and Ayzaan Wahid and Laura Downs and Adrian Wong and Johnny Lee and Igor Mordatch and Jonathan Tompson},
year = {2021},
eprint = {2109.00137},
archivePrefix = {arXiv},
primaryClass = {cs.RO}
}
