Conditional Energy-Based Models for Implicit Policies: The Gap between Theory and Practice. (arXiv:2207.05824v1 [cs.RO])

We present our findings in the gap between theory and practice of using
conditional energy-based models (EBM) as an implicit representation for
behavior-cloned policies. We also clarify several subtle, and potentially
confusing, details in previous work in an attempt to help future research in
this area. We point out key differences between unconditional and conditional
EBMs, and warn that blindly applying training methods for one to the other
could lead to undesirable results that do not generalize well. Finally, we …

arxiv energy gap theory