https://github.com/kevinzakka/ibc
A PyTorch implementation of Implicit Behavioral Cloning
https://github.com/kevinzakka/ibc
behavioral-cloning deep-learning energy-based-model pytorch robotics
Last synced: 3 months ago
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A PyTorch implementation of Implicit Behavioral Cloning
- Host: GitHub
- URL: https://github.com/kevinzakka/ibc
- Owner: kevinzakka
- Created: 2021-10-23T01:21:57.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2022-07-02T01:38:13.000Z (almost 3 years ago)
- Last Synced: 2025-03-19T01:11:22.078Z (3 months ago)
- Topics: behavioral-cloning, deep-learning, energy-based-model, pytorch, robotics
- Language: Python
- Homepage: https://arxiv.org/abs/2109.00137
- Size: 3.74 MB
- Stars: 101
- Watchers: 5
- Forks: 13
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- Citation: CITATION.cff
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README
## Implicit Behavioral Cloning - PyTorch
Pytorch implementation of Implicit Behavioral Cloning.
## Install
```bash
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
If you find this code useful, consider citing it along with the paper:
```bibtex
@software{zakka2021ibc,
author = {Zakka, Kevin},
month = {10},
title = {{A PyTorch Implementation of Implicit Behavioral Cloning}},
url = {https://github.com/kevinzakka/ibc},
version = {0.0.1},
year = {2021}
}
```
```bibtex
@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}
}
```