DemoDICE and LobsDICE

This repository is the official implementation of

• DemoDICE: Offline Imitation Learning with Supplementary Imperfect Demonstrations (presented at ICLR 2022).
• LobsDICE: Offline Learning from Observation via Stationary Distribution Correction Estimation (presented at NeurIPS 2022).

Installation Guide

MuJoCo

• Download MuJoCo version 2.1.0
• Extract the downloaded mujoco210 directory into ~/.mujoco/mujoco210
• Insert the following commands in ~/.bashrc.

  export LD_LIBRARY_PATH="$HOME/.mujoco/mujoco210/bin:$LD_LIBRARY_PATH"
  

Conda Environment

1. Create conda environment and activate it:

   conda env create -f environment.yml
   conda activate imitation-dice
   

2. (Optional) Install 'd4rl':

   pip install git+https://github.com/rail-berkeley/d4rl@master#egg=d4rl
   

3. (Optional) Issues with mujoco-py
   • Please see Troubleshooting in mujoco-py

How to Run

1. DemoDICE

   python lfd_mujoco.py \
     --env_id=Hopper-v2 \
     --imperfect_dataset_names=expert-v2 \
     --imperfect_dataset_names=random-v2 \ 
     --imperfect_num_trajs=100 \
     --imperfect_num_trajs=500 \
     --algorithm=demodice
   

2. LobsDICE

   python lfo_mujoco.py \
     --env_id=Hopper-v2 \
     --imperfect_dataset_names=expert-v2 \
     --imperfect_dataset_names=medium-v2 \
     --imperfect_dataset_names=random-v2 \ 
     --imperfect_num_trajs=100 \
     --imperfect_num_trajs=500 \
     --imperfect_num_trajs=500 \
     --algorithm=lobsdice
   

Bibtex

DemoDICE: Offline Imitation Learning with Supplementary Imperfect Demonstrations

@inproceedings{kim2022demodice,
  title     = {DemoDICE: Offline Imitation Learning with Supplementary Imperfect Demonstrations},
  author    = {Geon-Hyeong Kim and Seokin Seo and Jongmin Lee and Wonseok Jeon and HyeongJoo Hwang and Hongseok Yang and Kee-Eung Kim},
  booktitle = {International Conference on Learning Representations},
  year      = {2022}
}

LobsDICE: Offline Learning from Observation via Stationary Distribution Correction Estimation

@article{kim2022lobsdice,
  title   = {LobsDICE: Offline Learning from Observation via Stationary Distribution Correction Estimation},
  author  = {Geon-Hyeong Kim and Jongmin Lee and Youngsoo Jang and Hongseok Yang and Kee-Eung Kim},
  journal = {Advances in Neural Information Processing Systems},
  year    = {2022}
}