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

If you find this code useful, consider citing it along with the paper:

@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}
}

@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}
}