{"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/winning-solution-of-real-robot-challenge-iii","title":"Identifying Expert Behavior in Offline Training Datasets Improves Behavioral Cloning of Robotic Manipulation Policies","arxiv_id":"2301.13019","date":"2023-01-30","proceeding":null,"authors":["Qiang Wang","Robert McCarthy","David Cordova Bulens","Francisco Roldan Sanchez","Kevin McGuinness","Noel E. O'Connor","Stephen J. Redmond"],"abstract":"This paper presents our solution for the Real Robot Challenge (RRC) III, a competition featured in the NeurIPS 2022 Competition Track, aimed at addressing dexterous robotic manipulation tasks through learning from pre-collected offline data. Participants were provided with two types of datasets for each task: expert and mixed datasets with varying skill levels. While the simplest offline policy learning algorithm, Behavioral Cloning (BC), performed remarkably well when trained on expert datasets, it outperformed even the most advanced offline reinforcement learning (RL) algorithms. However, BC's performance deteriorated when applied to mixed datasets, and the performance of offline RL algorithms was also unsatisfactory. Upon examining the mixed datasets, we observed that they contained a significant amount of expert data, although this data was unlabeled. To address this issue, we proposed a semi-supervised learning-based classifier to identify the underlying expert behavior within mixed datasets, effectively isolating the expert data. To further enhance BC's performance, we leveraged the geometric symmetry of the RRC arena to augment the training dataset through mathematical transformations. In the end, our submission surpassed that of all other participants, even those who employed complex offline RL algorithms and intricate data processing and feature engineering techniques.","url_abs":"https://arxiv.org/abs/2301.13019v2","url_pdf":"https://arxiv.org/pdf/2301.13019v2.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":"winning-solution-of-real-robot-challenge-iii","repo_url":"https://github.com/wq13552463699/real-robot-challenge-2022","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"data-augmentation","task_name":"Data Augmentation"},{"task_slug":"feature-engineering","task_name":"Feature Engineering"},{"task_slug":"imitation-learning","task_name":"Imitation Learning"},{"task_slug":"offline-rl","task_name":"Offline RL"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2301.13019","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2301.13019"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/wq13552463699/real-robot-challenge-2022","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"unverified":6},"by_repo_kind":{"official":{"samples":6,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"bc9c9a3d4d7c8a98","entry":"device_handler","repo":"wq13552463699/real-robot-challenge-2022","repo_kind":"official","path":"utils.py","file_url":"https://github.com/wq13552463699/real-robot-challenge-2022/blob/HEAD/utils.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"bc9c9a3d4d7c8a98"}},{"code_sha256_prefix":"6f510cbd5f7b96b3","entry":"directory_handler","repo":"wq13552463699/real-robot-challenge-2022","repo_kind":"official","path":"utils.py","file_url":"https://github.com/wq13552463699/real-robot-challenge-2022/blob/HEAD/utils.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"6f510cbd5f7b96b3"}},{"code_sha256_prefix":"47d972ac05f5d647","entry":"filter_by_net","repo":"wq13552463699/real-robot-challenge-2022","repo_kind":"official","path":"rrc_dataset_handler.py","file_url":"https://github.com/wq13552463699/real-robot-challenge-2022/blob/HEAD/rrc_dataset_handler.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"47d972ac05f5d647"}},{"code_sha256_prefix":"358f228d782385a2","entry":"filter_by_reward","repo":"wq13552463699/real-robot-challenge-2022","repo_kind":"official","path":"rrc_dataset_handler.py","file_url":"https://github.com/wq13552463699/real-robot-challenge-2022/blob/HEAD/rrc_dataset_handler.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"358f228d782385a2"}},{"code_sha256_prefix":"a1be7688817535f1","entry":"load_rrc_raw_dataset","repo":"wq13552463699/real-robot-challenge-2022","repo_kind":"official","path":"rrc_dataset_handler.py","file_url":"https://github.com/wq13552463699/real-robot-challenge-2022/blob/HEAD/rrc_dataset_handler.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"a1be7688817535f1"}},{"code_sha256_prefix":"d42152a359ce3603","entry":"rrc_task_handler","repo":"wq13552463699/real-robot-challenge-2022","repo_kind":"official","path":"utils.py","file_url":"https://github.com/wq13552463699/real-robot-challenge-2022/blob/HEAD/utils.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"d42152a359ce3603"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}