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BC-Z

Source codes for reproducing "BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning".

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Training the Model

Download the data in the TFRecords format is open-sourced here: https://www.kaggle.com/google/bc-z-robot

TRAIN_DATA="/path/to/bcz-21task_v9.0.1.tfrecord/train*,/path/to/bcz-79task_v16.0.0.tfrecord/train*"
EVAL_DATA="/path/to/bcz-21task_v9.0.1.tfrecord/val*,/path/to/bcz-79task_v16.0.0.tfrecord/val*"
python3 -m tensor2robot.bin.run_t2r_trainer --logtostderr \
  --gin_configs="tensor2robot/research/bcz/configs/run_train_bc_langcond_trajectory.gin" \
  --gin_bindings="train_eval_model.model_dir='/tmp/bcz/'" \
  --gin_bindings="TRAIN_DATA='${TRAIN_DATA}' \
  --gin_bindings="EVAL_DATA='${EVAL_DATA}'"