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This is official implementation of TALAR.

1. Please finish the following steps to install conda environment and related python packages
   • Conda Environment create

   conda create --name <env_name> --file spec-list.txt

   • Package install

   pip install -r requirements.txt

2. The environments used in this work require MuJoCo, CLEVR-Robot Environment and Bert as dependecies. Please setup them following the instructions:
   • Instructions for MuJoCo: https://mujoco.org/
   • Instructions for CLEVR-Robot Environment: https://github.com/google-research/clevr_robot_env
   • Instructions for Bert: https://huggingface.co/bert-base-uncased. Move bert model to models directory.

We upload our full dataset in https://drive.google.com/drive/folders/1p1r5swySbafnUVfAfOCQXZiuXF3D2s3F?usp=share_link , please download the dataset before using TALAR or collect your own data.

python train_tl_kitchen.py

python train_translator_kitchen.py --path <path_to_model> --cpt-epoch 0

1. Finish training generator and translator of TALAR
2. Move the translator model directory to code/models and rename it to code/models/policy

python train_gcp.py

• The models of goal-conditioned-policy will be saved at gcp_model.
• The tensorboard log of goal-conditioned-policy will be saved at gcp_train.
• The evaluation result of goal-conditioned-policy will be saved at gcp_callback.

@inproceedings{talar/neurips/pang,
    author    = {Jing-Cheng Pang and Xinyu Yang and Si-Hang Yang and Xiong-Hui Chen andYang Yu},
    title     = {Natural Language-conditioned Reinforcement Learning with Task-related Language Development and Translation},
    booktitle = {Advances in Neural Information Processing Systems,
                {NeurIPS}},
    year      = {2023}}