conda env create -f environment.yaml

The following command will run the three experiments as in Fig. 3 in the paper for both four rooms env and Fetch Pick&Place env.

Four rooms env: python sandbox/experiments/goals/maze/maze_her_gail.py

Point mass lego pusher env: python sandbox/experiments/goals/maze_lego/maze_lego_her_gail.py

Fetch Pick and Place env: python sandbox/experiments/goals/pick_n_place/pnp.py

Fetch StackTwo env: python sandbox/experiments/goals/pick_n_place/pnp_twoobj.py

The following command will reproduce the learning curves for two environments as in Fig. 3 in the paper.

Four rooms env: python plotting/gail_plot.py data/s3/fourroom fourroom

Point mass lego pusher env: python plotting/gail_plot.py data/s3/pointmass-block-pusher pointmass-block-pusher

Fetch Pick and Place env: python plotting/gail_plot.py data/s3/fetchpnp fetchpnp

Fetch StackTwo env: python plotting/gail_plot.py data/s3/stacktwo stacktwo

The generated figures can be found in folder figures.