vacancy
commented
9 months ago Sure! Thank you for your interest in our work. I believe the BC model implementation is this one: https://github.com/vacancy/PDSketch-Alpha-Release/blob/main/hacl/p/kfac/models/general_policy.py
Hoar012
Hello! Thank you for providing this valuable code repository. Currently, I am trying to reproduce the baseline experiment described in the PDSketch paper [https://arxiv.org/abs/2303.05501]. I have followed the instructions in the paper and implemented the training and testing process. For the BC baseline, I initially used a three-layer Fully Connected Neural Network to encode the world states and a single linear layer to predict the action. However, the generalization performance was quite poor (in-distribution success rate: 1.0; object-generalization success rate: <0.2) and significantly underperformed the GNN-based results in the paper(in-distribution success rate: 0.9; object-generalization success rate: >0.7). I noticed that your implementation used a two-layer graph neural network and mentioned permutation invariance in the paper. Unfortunately, the paper does not provide specific implementation details. Could you please provide some details about the GNN used in the baseline, such as the construction of the graph input or any relevant references used for its implementation? I would greatly appreciate any guidance or assistance you can provide to help me overcome this issue. Thank you for your time, and I look forward to your reply!