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Supplementary Material
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August 6, 2025

This readme provides a description of the contents of the supplementary material for the paper: 
    ASkDAgger: Active Skill-level Data Aggregation for Interactive Imitation Learning

The structure of this folder is as follows:

code/
    - askdagger_mnist/
    - askdagger_cliport/
videos/
    - sim/
    - real/
    askdagger.mp4
readme.txt

Note that all supplementary material is also available online at https://askdagger.github.io/.
In the next sections we describe the contents of the folders code and videos.

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Code
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The folder code contains the source code for the MNIST and simulation experiments reported in the paper.
The code for these experiments is also available at https://github.com/askdagger/askdagger_cliport and https://github.com/askdagger/askdagger_mnist.
Both folders/repos contain a README that describes how the data from the paper can be downloaded or reproduced.
There you can also find the installation instructions.
The folders/repos also contain the scripts that were used to create the figures in the paper.
It is possible to recreate these figures by first downloading the experimental data and then running the scripts for plotting the figures.
The askdagger_cliport folder also has a notebooks folder, where you can find an interactive notebook that visualizes the interactive training process.


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Videos
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This folder contains an overview video and videos of the simulated CLIPort experiments and the real-world experiments.
In the folder sim you can find videos of the simulation benchmark tasks.
In the folder real you can find videos of the engine assembly task and the sorting task.
The videos were converted with the libx264 codec.
We advice to use VLC Mediaplayer to watch the videos.
If you have problems playing the videos, you can also try watching them online: https://askdagger.github.io/.
