-
+ Real Robot Experiments
+
Real Robot Experiments
+
+
+ 
+
+
+ 
+
+
+ 
+
+
+
- Real Robot Experiments
-
-
-
-
-
-
-
-
-
-
-
CCIL improves imitation learning, especially in low-data regimes
@@ -475,6 +475,10 @@ CCIL improves imitation learning, especially in low-data
+
+
+
+
CCIL's Robustness to Lipschitz Constraint
@@ -496,6 +500,35 @@ CCIL's Robustness to Lipschitz Constraint
+
+
+ CCIL's Robustness to Disturbance
+
+
+ With Corrective Labels
+
+
+
+ Without Corrective Labels
+
+
+
+
+
+
+ CCIL's corrective labels expand the support of the demonstration data, allowing the policy to recover from significant
+ disturbances that push it outside of the original expert state distribution.
+
+
+
+
+
diff --git a/static/js/sync_vids.js b/static/js/sync_vids.js
index b11b4ef..f41dac8 100644
--- a/static/js/sync_vids.js
+++ b/static/js/sync_vids.js
@@ -1,5 +1,5 @@
$(document).ready(function() {
- const syncedGroups = ["synced-1", "synced-2"];
+ const syncedGroups = ["synced-1", "synced-2", "synced-3"];
let vidsReady = {};
let vidsEnded = {};
diff --git a/static/videos/bc_cube_perturb.mp4 b/static/videos/bc_cube_perturb.mp4
new file mode 100644
index 0000000..7b2aa4f
Binary files /dev/null and b/static/videos/bc_cube_perturb.mp4 differ
diff --git a/static/videos/ccil_cube_perturb.mp4 b/static/videos/ccil_cube_perturb.mp4
new file mode 100644
index 0000000..3ebfdb8
Binary files /dev/null and b/static/videos/ccil_cube_perturb.mp4 differ
+
+
+
+
+
+
+
+
+
+
+
+
-
+
+ Real Robot Experiments
-
-
-
-
-
-
-
-
-
-
-
-
-
- CCIL improves imitation learning, especially in low-data regimes
@@ -475,6 +475,10 @@
CCIL improves imitation learning, especially in low-data
CCIL's Robustness to Lipschitz Constraint
@@ -496,6 +500,35 @@
CCIL's Robustness to Lipschitz Constraint
+
+
+ CCIL's Robustness to Disturbance
+
+
+
+
+ With Corrective Labels
+ +
+
+ Without Corrective Labels
+ +
+
+
+
+ + CCIL's corrective labels expand the support of the demonstration data, allowing the policy to recover from significant + disturbances that push it outside of the original expert state distribution. +
+