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825cff4 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | # Implemented Algorithms
**robomimic** includes several high-quality implementations of offline learning algorithms, and offers tools to easily build [your own learning algorithms](../tutorials/custom_algorithms.html).
## Imitation Learning
### BC
- Vanilla Behavioral Cloning (see [this paper](https://papers.nips.cc/paper/1988/file/812b4ba287f5ee0bc9d43bbf5bbe87fb-Paper.pdf)), consisting of simple supervised regression from observations to actions. Implemented in the `BC` class in `algo/bc.py`, along with some variants such as `BC_GMM` (stochastic GMM policy) and `BC_VAE` (stochastic VAE policy)
### BC-RNN
- Behavioral Cloning with an RNN network. Implemented in the `BC_RNN` and `BC_RNN_GMM` (recurrent GMM policy) classes in `algo/bc.py`.
### BC-Transformer
- Behavioral Cloning with an Transformer network. Implemented in the `BC_Transformer` and `BC_Transformer_GMM` (transformer GMM policy) classes in `algo/bc.py`.
### Diffusion Policy
- Behavior cloning with a diffusion action head (see [this paper](https://arxiv.org/pdf/2303.04137v5)). Implemented in the `DiffusionPolicyUNet` class in `algo/diffusion_policy.py`.
### HBC
- Hierarchical Behavioral Cloning - the implementation is largely based off of [this paper](https://arxiv.org/abs/2003.06085). Implemented in the `HBC` class in `algo/hbc.py`.
## Offline Reinforcement Learning
### IRIS
- A recent batch offline RL algorithm from [this paper](https://arxiv.org/abs/1911.05321). Implemented in the `IRIS` class in `algo/iris.py`.
### BCQ
- A recent batch offline RL algorithm from [this paper](https://arxiv.org/abs/1812.02900). Implemented in the `BCQ` class in `algo/bcq.py`.
### CQL
- A recent batch offline RL algorithm from [this paper](https://arxiv.org/abs/2006.04779). Implemented in the `CQL` class in `algo/cql.py`.
### IQL
- A recent batch offline RL algorithm from [this paper](https://arxiv.org/abs/2110.06169). Implemented in the `IQL` class in `algo/iql.py`.
### TD3-BC
- A recent algorithm from [this paper](https://arxiv.org/abs/2106.06860). We implemented it as an example (see section below on building your own algorithm). Implemented in the `TD3_BC` class in `algo/td3_bc.py`.
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