To reproduce experiments, create a conda environment using the `environment_backup.yml` file. For MuJoCo tasks, we provide the data for you. However, if you want to run Robosuite benchmarks, you'll have to generate the data yourself. See MimicGen's documentation for more informaiton on that: https://mimicgen.github.io/docs/introduction/overview.html.

We provide scripts to turn MimicGen's .hdf5 file to a dataset usable by this codebase: see `hdf5_to_d4rl.py`. We also provide scripts to turn these demonstrations into a dataset of RGB images, and another scrpit to turn those into R3M features.

The main script here is `generate_results.sh`, which goes table by table, running an evaluation script correponding with every reported score.
