README.md

Normalizing Flow Policy implementation

Original implementation of the Normalizing Flow policy used in "Learning Normalizing Flow Policies Based on Highway Demonstrations" (https://ieeexplore.ieee.org/document/9564456).

install dependencies

Dependencies can be found in ./requirements.txt

The standard configuration uses AntBulletEnv-v0 from pybullet (pybullet.org). PyBullet can be installed with:

pip install pybullet

It is necessary to use the correct FrEIA implementation (the branch NF-Policy from the following fork is the version used in the paper):

https://github.com/FeMa42/FrEIA-NF-policy/tree/NF-Policy

Otherwise training the policy will not work properly and you might experience stability issues.

Training and testing flow policy

Dataset containing expert data is in ./data

Start training the policy using BC with:

python train.py