{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/goal-conditioned-imitation-learning-using","title":"Goal-Conditioned Imitation Learning using Score-based Diffusion Policies","arxiv_id":"2304.02532","date":"2023-04-05","proceeding":null,"authors":["Moritz Reuss","Maximilian Li","Xiaogang Jia","Rudolf Lioutikov"],"abstract":"We propose a new policy representation based on score-based diffusion models (SDMs). We apply our new policy representation in the domain of Goal-Conditioned Imitation Learning (GCIL) to learn general-purpose goal-specified policies from large uncurated datasets without rewards. Our new goal-conditioned policy architecture \"$\\textbf{BE}$havior generation with $\\textbf{S}$c$\\textbf{O}$re-based Diffusion Policies\" (BESO) leverages a generative, score-based diffusion model as its policy. BESO decouples the learning of the score model from the inference sampling process, and, hence allows for fast sampling strategies to generate goal-specified behavior in just 3 denoising steps, compared to 30+ steps of other diffusion based policies. Furthermore, BESO is highly expressive and can effectively capture multi-modality present in the solution space of the play data. Unlike previous methods such as Latent Plans or C-Bet, BESO does not rely on complex hierarchical policies or additional clustering for effective goal-conditioned behavior learning. Finally, we show how BESO can even be used to learn a goal-independent policy from play-data using classifier-free guidance. To the best of our knowledge this is the first work that a) represents a behavior policy based on such a decoupled SDM b) learns an SDM based policy in the domain of GCIL and c) provides a way to simultaneously learn a goal-dependent and a goal-independent policy from play-data. We evaluate BESO through detailed simulation and show that it consistently outperforms several state-of-the-art goal-conditioned imitation learning methods on challenging benchmarks. We additionally provide extensive ablation studies and experiments to demonstrate the effectiveness of our method for goal-conditioned behavior generation. Demonstrations and Code are available at https://intuitive-robots.github.io/beso-website/","url_abs":"https://arxiv.org/abs/2304.02532v2","url_pdf":"https://arxiv.org/pdf/2304.02532v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"goal-conditioned-imitation-learning-using","repo_url":"https://github.com/intuitive-robots/beso","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"denoising","task_name":"Denoising"},{"task_slug":"imitation-learning","task_name":"Imitation Learning"},{"task_slug":"robot-manipulation","task_name":"Robot Manipulation"}],"methods":[{"method_slug":"diffusion","method_name":"Diffusion"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2304.02532","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}