0. Quick start

Imitation Learning is a powerful tool for training agents to perform tasks by leveraging expert demonstrations, especially when reward signals are sparse or hard to specify.

Here we will show the ready-to-run commands to quickly install the dependencies of imitation learning and get it up.

1. Installation

bash roboverse_learn/il/il_setup.sh

This command can install all relevant libraries for diffusion policy and action chunking.

2. Running

 bash roboverse_learn/il/il_run.sh --task_name_set close_box --algo_choose act --demo_num 100 --sim_set mujoco

This command performs demo collection, model training, and evaluation.

Argument	Description	Example
task_name_set	Name of the task	close_box，stack_cube, pick_cube, pick_butter
sim_set	Name of the selected simulator	isaacsim, mujoco
demo_num	Numbers of demos to collect, train, and eval	100
algo_choose	IL algorithm	act, dp_DDPM, dp_DDIM, dp_FM_UNet, dp_FM_DiT, dp_Score, dp_VITA