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pillbox ๐Ÿ’Š

Contains PyTorch implementation of the AdVIL, AdRIL, and DAeQuIL algorithms.

Setup

To install dependencies, run:

conda env create -f environment.yml

Running Experiments

To train an expert, run:

python experts/train.py -e env_name

To train a learner, run:

python learners/train.py -a algo_name -e env_name -n num_runs

This package supports training via:

  • Behavioral Cloning
  • AdVIL
  • SQIL
  • GAIL
  • AdRIL

We also support a comparison of the following algorithms that require an interactive expert on both OpenAI Gym and a custom environment:

  • DAgger
  • DAeQuIL

To explore these algorithms and environments, run:

jupyter notebook

and open up learners/imm.ipynb.

Visualizing Results

Run:

jupyter notebook

and open up vis.ipynb.

Citing our Work

@article{swamy2021moments,
  author       = {Gokul Swamy and Sanjiban Choudhury and J. Andrew Bagnell and Zhiwei Steven Wu},
  title        = {Of Moments and Matching: A Game-Theoretic Framework for Closing the Imitation Gap},
  conference   = {Proceedings of the 38th International Conference on Machine Learning},
  url          = {https://arxiv.org/abs/2103.03236},
}