caio-freitas / GraphDiffusionImitate

Diffusion-based graph generative policies for imitation learning in robotics tasks 🧠🤖
MIT License
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add GraphConditionEncoder #90

Closed caio-freitas closed 8 months ago

caio-freitas commented 8 months ago

After training, this is how the t-SNE plot for the latent space looks like in the observations of the whole graph dataset (coloring is episode-relative time, from 0 to 1)

image