Attention-driven Robot Manipulation (ARM) which includes Q-attention

Related tags

Deep LearningARM
Overview

Attention-driven Robotic Manipulation (ARM)

task grid image missing

This codebase is home to:

  • Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulation

Installation

ARM is trained using the YARR framework. Head to the YARR github page and follow installation instructions.

ARM is evaluated on RLBench 1.1.0. Head to the RLBench github page and follow installation instructions.

Now install project requirements:

pip install -r requirements.txt

Running experiments

Be sure to have RLBench demos saved on your machine before proceeding. To generate demos for a task, go to the tools directory in RLBench (rlbench/tools), and run:

python dataset_generator.py --save_path=/mnt/my/save/dir --tasks=take_lid_off_saucepan --image_size=128,128 \
--renderer=opengl --episodes_per_task=100 --variations=1 --processes=1

Experiments are launched via Hydra. To start training an agent to accomplish take_lid_off_saucepan with the default parameters on gpu 0, then run:

python launch.py method=ARM rlbench.task=take_lid_off_saucepan rlbench.demo_path=/mnt/my/save/dir framework.gpu=0
Owner
Stephen James
Postdoc
Stephen James
Embodied Intelligence via Learning and Evolution

Embodied Intelligence via Learning and Evolution This is the code for the paper Embodied Intelligence via Learning and Evolution Agrim Gupta, Silvio S

Agrim Gupta 111 Dec 13, 2022
Code for ICCV 2021 paper "HuMoR: 3D Human Motion Model for Robust Pose Estimation"

Code for ICCV 2021 paper "HuMoR: 3D Human Motion Model for Robust Pose Estimation"

Davis Rempe 367 Dec 24, 2022
PCACE: A Statistical Approach to Ranking Neurons for CNN Interpretability

PCACE: A Statistical Approach to Ranking Neurons for CNN Interpretability PCACE is a new algorithm for ranking neurons in a CNN architecture in order

4 Jan 04, 2022
Implementation of SwinTransformerV2 in TensorFlow.

SwinTransformerV2-TensorFlow A TensorFlow implementation of SwinTransformerV2 by Microsoft Research Asia, based on their official implementation of Sw

Phan Nguyen 2 May 30, 2022
use machine learning to recognize gesture on raspberrypi

Raspberrypi_Gesture-Recognition use machine learning to recognize gesture on raspberrypi 說明 利用 tensorflow lite 訓練手部辨識模型 分辨 "剪刀"、"石頭"、"布" 之手勢 再將訓練模型匯入

1 Dec 10, 2021
Cluttered MNIST Dataset

Cluttered MNIST Dataset A setup script will download MNIST and produce mnist/*.t7 files: luajit download_mnist.lua Example usage: local mnist_clutter

DeepMind 50 Jul 12, 2022
JAX + dataclasses

jax_dataclasses jax_dataclasses provides a wrapper around dataclasses.dataclass for use in JAX, which enables automatic support for: Pytree registrati

Brent Yi 35 Dec 21, 2022
Pytorch implementation of “Recursive Non-Autoregressive Graph-to-Graph Transformer for Dependency Parsing with Iterative Refinement”

Graph-to-Graph Transformers Self-attention models, such as Transformer, have been hugely successful in a wide range of natural language processing (NL

Idiap Research Institute 40 Aug 14, 2022
Customised to detect objects automatically by a given model file(onnx)

LabelImg LabelImg is a graphical image annotation tool. It is written in Python and uses Qt for its graphical interface. Annotations are saved as XML

Heeone Lee 1 Jun 07, 2022
PyTorch implementation of our ICCV 2019 paper: Liquid Warping GAN: A Unified Framework for Human Motion Imitation, Appearance Transfer and Novel View Synthesis

Impersonator PyTorch implementation of our ICCV 2019 paper: Liquid Warping GAN: A Unified Framework for Human Motion Imitation, Appearance Transfer an

SVIP Lab 1.7k Jan 06, 2023
The openspoor package is intended to allow easy transformation between different geographical and topological systems commonly used in Dutch Railway

Openspoor The openspoor package is intended to allow easy transformation between different geographical and topological systems commonly used in Dutch

7 Aug 22, 2022
DeepRec is a recommendation engine based on TensorFlow.

DeepRec Introduction DeepRec is a recommendation engine based on TensorFlow 1.15, Intel-TensorFlow and NVIDIA-TensorFlow. Background Sparse model is a

Alibaba 676 Jan 03, 2023
SCALoss: Side and Corner Aligned Loss for Bounding Box Regression (AAAI2022).

SCALoss PyTorch implementation of the paper "SCALoss: Side and Corner Aligned Loss for Bounding Box Regression" (AAAI 2022). Introduction IoU-based lo

TuZheng 20 Sep 07, 2022
Pure python PEMDAS expression solver without using built-in eval function

pypemdas Pure python PEMDAS expression solver without using built-in eval function. Supports nested parenthesis. Supported operators: + - * / ^ Exampl

1 Dec 22, 2021
(NeurIPS '21 Spotlight) IQ-Learn: Inverse Q-Learning for Imitation

Inverse Q-Learning (IQ-Learn) Official code base for IQ-Learn: Inverse soft-Q Learning for Imitation, NeurIPS '21 Spotlight IQ-Learn is an easy-to-use

Divyansh Garg 102 Dec 20, 2022
Code for CVPR2019 paper《Unequal Training for Deep Face Recognition with Long Tailed Noisy Data》

Unequal-Training-for-Deep-Face-Recognition-with-Long-Tailed-Noisy-Data. This is the code of CVPR 2019 paper《Unequal Training for Deep Face Recognition

Zhong Yaoyao 68 Jan 07, 2023
ArcaneGAN by Alex Spirin

ArcaneGAN by Alex Spirin

Alex 617 Dec 28, 2022
:fire: 2D and 3D Face alignment library build using pytorch

Face Recognition Detect facial landmarks from Python using the world's most accurate face alignment network, capable of detecting points in both 2D an

Adrian Bulat 6k Dec 31, 2022
The implemetation of Dynamic Nerual Garments proposed in Siggraph Asia 2021

DynamicNeuralGarments Introduction This repository contains the implemetation of Dynamic Nerual Garments proposed in Siggraph Asia 2021. ./GarmentMoti

42 Dec 27, 2022
PyTorch implementation of SmoothGrad: removing noise by adding noise.

SmoothGrad implementation in PyTorch PyTorch implementation of SmoothGrad: removing noise by adding noise. Vanilla Gradients SmoothGrad Guided backpro

SSKH 143 Jan 05, 2023