Pytorch implementation of Implicit Behavior Cloning.

Implicit Behavior Cloning - PyTorch (wip)

Pytorch implementation of Implicit Behavior Cloning.

Install

conda create -n ibc python=3.8
pip install -r requirements.txt

Progress

• Implement the coordinate regression task.
• Implement an explicit policy.
• Generate plot like in Figure 4.
• Implement an implicit EBM model.
  • Derivative-free sampler.
  • TrainState for EBM training.
  • Model class for ingesting both x and y.
• Implement Langevin dynamics.

Results

	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}
}