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DRIFT-DAgger: Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training

Setup

  • Create conda environment for different scenarios

    conda env create -f environment.yml
    conda activate drift-dagger
    
  • Download and train a behavioral cloning policy as the expert using this repo

    • The dataset can be found at here
  • Train a policy with DRIFT-DAgger

    python training/mavis/mavis_drift_dagger.py 
    

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