{"id":17923838,"url":"https://github.com/kevinzakka/ibc","last_synced_at":"2025-07-17T07:37:45.946Z","repository":{"id":98039074,"uuid":"420284229","full_name":"kevinzakka/ibc","owner":"kevinzakka","description":"A PyTorch implementation of Implicit Behavioral Cloning","archived":false,"fork":false,"pushed_at":"2022-07-02T01:38:13.000Z","size":3921,"stargazers_count":101,"open_issues_count":1,"forks_count":13,"subscribers_count":5,"default_branch":"main","last_synced_at":"2025-03-19T01:11:22.078Z","etag":null,"topics":["behavioral-cloning","deep-learning","energy-based-model","pytorch","robotics"],"latest_commit_sha":null,"homepage":"https://arxiv.org/abs/2109.00137","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/kevinzakka.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":"CITATION.cff","codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-10-23T01:21:57.000Z","updated_at":"2025-03-06T13:21:22.000Z","dependencies_parsed_at":null,"dependency_job_id":"5e149bbc-1b53-4a16-85e6-989972cc4a7a","html_url":"https://github.com/kevinzakka/ibc","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kevinzakka%2Fibc","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kevinzakka%2Fibc/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kevinzakka%2Fibc/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kevinzakka%2Fibc/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/kevinzakka","download_url":"https://codeload.github.com/kevinzakka/ibc/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":245198907,"owners_count":20576468,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["behavioral-cloning","deep-learning","energy-based-model","pytorch","robotics"],"created_at":"2024-10-28T20:45:47.787Z","updated_at":"2025-03-24T02:33:18.336Z","avatar_url":"https://github.com/kevinzakka.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"## Implicit Behavioral Cloning - PyTorch\n\nPytorch implementation of \u003ca href=\"https://arxiv.org/abs/2109.00137\"\u003eImplicit Behavioral Cloning\u003c/a\u003e.\n\n## Install\n\n```bash\nconda create -n ibc python=3.8\npip install -r requirements.txt\n```\n\n## Results\n\nTo 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.\n\n|             | Explicit Policy | Implicit Policy |\n|-------------|-----------------|-----------------|\n| 10 examples |\u003cimg src=\"assets/explicit_mse_10.png\" width=\"300\" height=\"200\"/\u003e|\u003cimg src=\"assets/implicit_ebm_10.png\" width=\"300\" height=\"200\"/\u003e|\n| 30 examples |\u003cimg src=\"assets/explicit_mse_30.png\" width=\"300\" height=\"200\"/\u003e|\u003cimg src=\"assets/implicit_ebm_30.png\" width=\"300\" height=\"200\"/\u003e|\n\n## Citation\n\nIf you find this code useful, consider citing it along with the paper:\n\n```bibtex\n@software{zakka2021ibc,\n    author = {Zakka, Kevin},\n    month = {10},\n    title = {{A PyTorch Implementation of Implicit Behavioral Cloning}},\n    url = {https://github.com/kevinzakka/ibc},\n    version = {0.0.1},\n    year = {2021}\n}\n```\n\n```bibtex\n@misc{florence2021implicit,\n    title = {Implicit Behavioral Cloning},\n    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},\n    year = {2021},\n    eprint = {2109.00137},\n    archivePrefix = {arXiv},\n    primaryClass = {cs.RO}\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkevinzakka%2Fibc","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkevinzakka%2Fibc","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkevinzakka%2Fibc/lists"}