rl-mimicgen

RL + mimicgen

Requirements

• Python 3.11
• Blackwell GPU
• uv
• gitman

Quickstart

pip install uv gitman

gitman install
uv sync

This installs rl-mimicgen plus editable local checkouts for mimicgen, robosuite, and robomimic.

uv sync creates the project .venv if it does not already exist.

If you use just:

just bootstrap

Verify

MUJOCO_GL=glx uv run python scripts/verify_blackwell_env.py

Or:

just verify

Train

Run the MimicGen one-task BC runner:

uv run python -m rl_mimicgen.mimicgen.paper_bc_one_task \
  --task square \
  --variant D0 \
  --modality low_dim

Run the parallel runner over all policies - variant x modality for a task:

bash scripts/mimicgen_train_bc.sh \
  --task square \
  --max-parallel 2

Limit the launch set or reuse an existing demonstration dataset directory:

bash scripts/mimicgen_train_bc.sh \
  --task square \
  --variant D0 \
  --variant D1 \
  --modality low_dim \
  --data-dir /path/to/datasets \
  --no-download-datasets

By default this creates one run root per job under runs/<task>_parallel/, for example runs/square_parallel/D0_low_dim. Each job writes its logs to runs/<task>_parallel/logs/ and its robomimic outputs under a shallow results root inside that job directory.