# Imitation Pretraining

We use python 3.9.

Some major dependencies may not be reliably installed by `pip install -r requirements.txt`:
- jax and jaxlib (for GPU support)
- mujoco-py

All other dependencies can be installed by running `pip install -r requirements.txt`.

Our package can then be installed by `pip install -e .`.

Path variables need to be set in `sweeps/sweep_utils.py` and `sweeps/configs/config_utils.py`.

Sweeps all rely on slurm, but can be used as examples of how to use the data generation, training, and evaluation code that is contained in the `imitation_pretraining` package.

All data can be generated using the scripts except for the kitchen data which is taken from the processed version at https://github.com/notmahi/bet.