Paper

This is an official implementation of ORCA (ORdered Coverage Alignment) for our ICML 2025 paper:
Imitation Learning from a Single Temporally Misaligned Video
William Huey*, Huaxiaoyue Wang*, Anne Wu, Yoav Artzi, Sanjiban Choudhury

When you clone, be sure to get the Metaworld submodule

git clone --recurse-submodules

Install the requirements, including the Metaworld submodule requirements.

conda create --name orca python==3.9
conda activate orca
conda install pytorch torchvision torchaudio pytorch-cuda=12.1 -c pytorch -c nvidia
pip install -r requirements.txt
cd Metaworld
pip install -e .
pip install 'numpy<2'
cd ..

We need to first generate the expert demo data using demo/collect_expert_traj.py. We can optionally configure the environment/task and camera angle (for default camera used in the paper, use "d"). The cameras angles and episode lengths that we use for each task are specified in demo/constants.py. Demos are saved in create_demo/{environment}_demo/{task}/.... To change the demo save path, change BASE_DEMO_DIR in demo/constants.py

Collect temporally aligned demo for door-close-v2:

python -m demo.collect_expert_traj -e "door-close-v2"

Collect hand selected temporally misaligned demos for all tasks (will fail for tasks without existing temporally aligned demos):

python -m demo.create_mismatch_traj 

Collect randomly temporally misaligned demos that are either faster or slower than the original demo (will fail for tasks without existing temporally aligned demos):

python -m demo.create_random_mismatch_traj -e "door-close-v2" -s "fast"

After collecting expert trajectories, you can run the TemporalOT agent using python main.py. To change the reward function, simply specify reward_fn in the config or command line. These functions are defined in seq_matching/load_matching_fn. You must collect expert demos of the correct type (matched, mismatched, random mismatched) before training

Train ORCA with temporally aligned demo

python main.py reward_fn="orca" env_name="door-close-v2" mismatched=false random_mismatched=false

Train ORCA with temporally misaligned demo. Make sure to create the aligned demo first, then run demo.create_mismatch_traj

python main.py reward_fn="orca" env_name="door-close-v2" mismatched=true random_mismatched=false

Train ORCA with randomly temporally misaligned, faster demo. To run slower demo, use speed_type="slow". Make sure to create the aligned demo first, then run demo.create_random_mismatch_traj

python main.py reward_fn="orca" env_name="door-close-v2" speed_type="fast" mismatched=false random_mismatched=true

Other notes:

• Training configs are stored in configs/ . You can modify them as command line arguments or directly in the config, according to hydra syntax.
• By default, we log eval information (rollout videos, performance, checkpoints) locally, in train_logs/. To log to wandb, set wandb_mode=online in train_config (and be sure to set your wandb credentials first)
• The expert trajectory that is used is specified by the environment, camera, and whether it is {matched, mismatched, random mismatched}.
• single.sh runs a single train run, and contains all of the parameters of interest.

States from each eval run are saved in train_logs/{run_name}/eval. Performance metrics over the course of training, such as final success rate (% eval rollouts with success on final frame) and total success rate (# successful frames per eval rollout) are stored in train_logs/{run_name}/logs/performance.csv after training is complete.