A Environments

The gripper must move the object (black) near the goal (red). The objective of "Push" is to push the object The objective of "PickAndPlace" is The observation space is 25-dimensional and consists of the end effector coordinates and its linear velocity, the gripper's There are two agents: Point (top row) and Ant (bottom row). All hyperparameter settings for BMIL are provided in Tables 3 and 4. For all experiments, we used For all methods, we use the same number of policy gradient steps for a fair comparison. Fetch Adroit Push PickAndPlace Relocate epochs 200 600 policy updates per epoch 100 50 batch size 64 demonstrations 5 10 20 demonstration sampling ratio p 0.5 0.8 trace horizon length 1 1 3 (1 200) 1 10 (100 600) action selection strategy entropy action selection coefficient 30 3 Push ( 5 demos) 99 .8 The bounds indicate 95% confidence intervals.