imitation.scripts.train_imitation

Trains DAgger on synthetic demonstrations generated from an expert policy.

Functions

bc(bc, _run, _rnd)	Runs BC training.
dagger(bc, dagger, _run, _rnd)	Runs DAgger training.
main_console()

imitation.scripts.train_imitation.bc(bc, _run, _rnd)

Runs BC training.

Parameters

• bc (Dict[str, Any]) – Configuration for BC training.

• _run – Sacred run object.

• _rnd (Generator) – Random number generator provided by Sacred.

Return type

Mapping[str, Mapping[str, float]]

Returns

Statistics for rollouts from the trained policy and demonstration data.

imitation.scripts.train_imitation.dagger(bc, dagger, _run, _rnd)

Runs DAgger training.

Parameters

• bc (Dict[str, Any]) – Configuration for BC training.

• dagger (Mapping[str, Any]) – Arguments for DAgger training.

• _run – Sacred run object.

• _rnd (Generator) – Random number generator provided by Sacred.

Return type

Mapping[str, Mapping[str, float]]

Returns

Statistics for rollouts from the trained policy and demonstration data.

imitation.scripts.train_imitation.main_console()