SSD

Training and evaluation of "Stitching Sub-Trajectories with Conditional Diffusion Model for Goal-Conditioned Offline RL" (preprint). The latest contains the main code for training.

Prerequisites

1. Download D4RL Follow directions from this link
2. Download MuJoCo Before installation of mujoco-py, install dependencies.

   conda install pkg-config
   conda install patchelf
   conda install -c menpo osmesa
   conda install -c conda-forge mesalib glew glfw
   

   Then follow directions from this link
3. Download Fetch offline dataset Download the offline dataset here and place it at ./offline_data.

Installation

conda env create -n ENV_NAME
conda activate ENV_NAME
pip install -r requirements.txt

Train

python train.py

Evaluation

python eval.py

Acknowledgements

This repository is based on Michael Janner's diffuser repo.