| # Acknowledgments |
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| ### People |
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| We would like to thank members of the [Stanford PAIR Group](http://pair.stanford.edu/) for their support and feedback on this project. These people in particular have made the following contributions at different stages of this project: |
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| - [Rohun Kulkarni](https://www.linkedin.com/in/rohunkulkarni/) (assistance with collecting real robot datasets and running real robot experiments) |
| - [Albert Tung](https://www.linkedin.com/in/albert-tung3/) (assistance with collecting simulation datasets using the [RoboTurk](https://roboturk.stanford.edu/) system) |
| - [Fei Xia](https://fxia22.github.io/) ([egl_probe](https://github.com/StanfordVL/egl_probe) library, which helped us run experiments on lab clusters) |
| - [Jim Fan](https://twitter.com/drjimfan?lang=en) (providing support for running experiments on lab clusters) |
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| We would also like to thank: |
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| - [Cheng Chi](https://cheng-chi.github.io/) (implementing Diffusion Policy in this repository) |
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| ### Codebases |
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| - Our Config class (see `config/config.py`) was adapted from [addict](https://github.com/mewwts/addict). |
| - The [BCQ](https://github.com/sfujim/BCQ), [CQL](https://github.com/aviralkumar2907/CQL), and [TD3-BC](https://github.com/sfujim/TD3_BC) author-provided implementations were used as a reference for our implementations. |
| - The `TanhWrappedDistribution` class in `models/distributions.py` was adapted from [rlkit](TanhWrappedDistribution). |
| - Support for training distributional critics (see `BCQ_Distributional` in `algos/bcq.py`) was adapted from [Acme](https://github.com/deepmind/acme). It also served as a useful reference for implementing Gaussian Mixture Model (GMM) policies. |
| - Our transformer implementation was adapted from the excellent [minGPT](https://github.com/karpathy/minGPT) codebase. |
| - Utilities for rotation transformations in `utils/torch_utils.py` were adapted from Facebook Research's [pytorch3d](https://github.com/facebookresearch/pytorch3d/) codebase. |
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| We wholeheartedly welcome the community to contribute to our project through issues and pull requests. New contributors will be added to the list above. |
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