Baselines#
We provide a number of different baselines spanning different categories of learning from demonstrations research: Behavior Cloning / Supervised Learning, Offline Reinforcement Learning, and Online Learning from Demonstrations. This page is still a WIP as we finish running experiments and establish clear baselines and benchmarking setups.
Behavior Cloning (BC) Baselines
BC Baselines are characterized by supervised learning focused algorithms for learning from demonstrations, without any online interaction with the environment.
Baseline |
Code |
Results |
Paper |
|---|---|---|---|
Standard Behavior Cloning (BC) |
WIP |
WIP |
N/A |
Diffusion Policy (DP) |
WIP |
||
Action Chunking Transformer (ACT) |
WIP |
Online Learning from Demonstrations Baselines
Online learning from demonstrations baselines are characterized by learning from demonstrations while also leveraging online environment interactions.
Baseline |
Code |
Results |
Paper |
|---|---|---|---|
Reverse Forward Curriculum Learning (RFCL)* |
WIP |
||
Reinforcement Learning from Prior Data (RLPD) |
WIP |
||
SAC + Demos (SAC+Demos) |
WIP |
N/A |
* - This indicates the baseline uses environment state reset which is typically a simulation only feature