This is an example implementation of the paper "Cross Domain Robot Imitation with Invariant Representation".

Overview

IR-GAIL

This is an example implementation of the paper "Cross Domain Robot Imitation with Invariant Representation".

Dependency

The experiments are dependent on gym, mujoco-py, and torch. Make sure you have installed them properly.

Get Started

Train the agent with pretrained representation model

The example folder contains a quick demo on the InvertedDoublePendulum environment.

To train a CDIL agent with pretrained representation network (in extrapolation mode), run the following command:

python ./example/idp.py --cuda --c1 1.3 --c2 1.5 --c3 1.4 --rollout_length 5000 --eval_interval 5000 --num_steps 5000000 --buffer ./assets/idp_expert_buffer.pth --embedding ./assets/idp_pretrained.pth --seed 0

In the above command, --c1 1.3 --c2 1.5 --c3 1.4 specifies the environment parameter (1.3, 1.5, 1.4). The parameters of experts are around (0.9, 0.9, 0.9). You can change these parameters to do interpolation as well.

--buffer ./assets/idp_expert_buffer.pth specifies the expert demonstration.

--embedding ./assets/idp_pretrained.pth specifies the pretrained representation network.

The return for this example will converge after 600k steps.

Train the representation model

The random and expert experience used to train the representation network are in the ./assets/idp_expert_random_buffer.pkl.

If you want to train the representation network by yourself, run the following command:

python ./example/idp_train_representation.py

It will create a representation_logs folder, in which you can find the latest model as training goes on.

You can then use the trained model for imitation learning.

Ablation

Navigate to the ./example/idp_train_representation.py, and disable the dynamics loss by changing the c_f value to 0.0. Then, train the representation model and the agent again.

This time, you will find the agent fail in the extrapolation experiment!

Acknowledgement

We gratefully thank ku2482 for a neat imitation learning framework. 🙂

Owner
Zhao-Heng Yin
MPhil student at HKUST. Computer Science and Robotics Researcher.
Zhao-Heng Yin
Fast and simple implementation of RL algorithms, designed to run fully on GPU.

RSL RL Fast and simple implementation of RL algorithms, designed to run fully on GPU. This code is an evolution of rl-pytorch provided with NVIDIA's I

Robotic Systems Lab - Legged Robotics at ETH Zürich 68 Dec 29, 2022
PyTorch reimplementation of minimal-hand (CVPR2020)

Minimal Hand Pytorch Unofficial PyTorch reimplementation of minimal-hand (CVPR2020). you can also find in youtube or bilibili bare hand youtube or bil

Hao Meng 228 Dec 29, 2022
Group R-CNN for Point-based Weakly Semi-supervised Object Detection (CVPR2022)

Group R-CNN for Point-based Weakly Semi-supervised Object Detection (CVPR2022) By Shilong Zhang*, Zhuoran Yu*, Liyang Liu*, Xinjiang Wang, Aojun Zhou,

Shilong Zhang 129 Dec 24, 2022
Reverse engineer your pytorch vision models, in style

🔍 Rover Reverse engineer your CNNs, in style Rover will help you break down your CNN and visualize the features from within the model. No need to wri

Mayukh Deb 32 Sep 24, 2022
Forecasting Nonverbal Social Signals during Dyadic Interactions with Generative Adversarial Neural Networks

ForecastingNonverbalSignals This is the implementation for the paper Forecasting Nonverbal Social Signals during Dyadic Interactions with Generative A

1 Feb 10, 2022
A resource for learning about deep learning techniques from regression to LSTM and Reinforcement Learning using financial data and the fitness functions of algorithmic trading

A tour through tensorflow with financial data I present several models ranging in complexity from simple regression to LSTM and policy networks. The s

195 Dec 07, 2022
🏃‍♀️ A curated list about human motion capture, analysis and synthesis.

Awesome Human Motion 🏃‍♀️ A curated list about human motion capture, analysis and synthesis. Contents Introduction Human Models Datasets Data Process

Dennis Wittchen 274 Dec 14, 2022
Collection of TensorFlow2 implementations of Generative Adversarial Network varieties presented in research papers.

TensorFlow2-GAN Collection of tf2.0 implementations of Generative Adversarial Network varieties presented in research papers. Model architectures will

41 Apr 28, 2022
ML-Decoder: Scalable and Versatile Classification Head

ML-Decoder: Scalable and Versatile Classification Head Paper Official PyTorch Implementation Tal Ridnik, Gilad Sharir, Avi Ben-Cohen, Emanuel Ben-Baru

189 Jan 04, 2023
Pytorch implementation of YOLOX、PPYOLO、PPYOLOv2、FCOS an so on.

简体中文 | English miemiedetection 概述 miemiedetection是女装大佬咩酱基于YOLOX进行二次开发的个人检测库(使用的深度学习框架为pytorch),支持Windows、Linux系统,以女装大佬咩酱的名字命名。miemiedetection是一个不需要安装的

248 Jan 02, 2023
Python3 Implementation of (Subspace Constrained) Mean Shift Algorithm in Euclidean and Directional Product Spaces

(Subspace Constrained) Mean Shift Algorithms in Euclidean and/or Directional Product Spaces This repository contains Python3 code for the mean shift a

Yikun Zhang 0 Oct 19, 2021
The modify PyTorch version of Siam-trackers which are speed-up by TensorRT.

SiamTracker-with-TensorRT The modify PyTorch version of Siam-trackers which are speed-up by TensorRT or ONNX. [Updating...] Examples demonstrating how

9 Dec 13, 2022
Official source code to CVPR'20 paper, "When2com: Multi-Agent Perception via Communication Graph Grouping"

When2com: Multi-Agent Perception via Communication Graph Grouping This is the PyTorch implementation of our paper: When2com: Multi-Agent Perception vi

34 Nov 09, 2022
Code for testing various M1 Chip benchmarks with TensorFlow.

M1, M1 Pro, M1 Max Machine Learning Speed Test Comparison This repo contains some sample code to benchmark the new M1 MacBooks (M1 Pro and M1 Max) aga

Daniel Bourke 348 Jan 04, 2023
A deep neural networks for images using CNN algorithm.

Example-CNN-Project This is a simple project showing how to implement deep neural networks using CNN algorithm. The dataset is taken from this link: h

Mohammad Amin Dadgar 3 Sep 16, 2022
Pose estimation with MoveNet Lightning

Pose Estimation With MoveNet Lightning MoveNet is the TensorFlow pre-trained model that identifies 17 different key points of the human body. It is th

Yash Vora 2 Jan 04, 2022
A library for finding knowledge neurons in pretrained transformer models.

knowledge-neurons An open source repository replicating the 2021 paper Knowledge Neurons in Pretrained Transformers by Dai et al., and extending the t

EleutherAI 96 Dec 21, 2022
JAXDL: JAX (Flax) Deep Learning Library

JAXDL: JAX (Flax) Deep Learning Library Simple and clean JAX/Flax deep learning algorithm implementations: Soft-Actor-Critic (arXiv:1812.05905) Transf

Patrick Hart 4 Nov 27, 2022
Turn based roguelike in python

pyTB Turn based roguelike in python Documentation can be found here: http://mcgillij.github.io/pyTB/index.html Screenshot Dependencies Written in Pyth

Jason McGillivray 4 Sep 29, 2022
Python codes for Lite Audio-Visual Speech Enhancement.

Lite Audio-Visual Speech Enhancement (Interspeech 2020) Introduction This is the PyTorch implementation of Lite Audio-Visual Speech Enhancement (LAVSE

Shang-Yi Chuang 85 Dec 01, 2022