SafePicking: Learning Safe Object Extraction via Object-Level Mapping, ICRA 2022

Related tags

Deep Learningreinforcement-learningcomputer-visionrobotics
Overview

SafePicking

Learning Safe Object Extraction via Object-Level Mapping

Kentaro Wada, Stephen James, Andrew J. Davison
Dyson Robotics Laboratory, Imperial College London
IEEE International Conference on Robotics and Automation (ICRA), 2022

Installation | Usage | Paper | Video | Website

Installation

Python project only

make install

source .anaconda3/bin/activate
./checks/check_motion_planning.py

ROS project

  • robot-agent: A computer with CUDA and a GPU installed for visual processing.
  • robot-node: A computer with a real-time OS for a Panda robot.

@robot-agent

make install
source .anaconda3/bin/activate

cd ros/
make install
source devel/setup.sh

@robot-node

cd ros/
source /opt/ros/noetic/setup.sh

catkin build morefusion_panda
rosrun morefusion_panda create_udev_rules.sh

catkin build safepicking_ros

Usage

Training & Inference

cd examples/picking/

# download pile files at ~/.cache/safepicking/pile_generation/
./download_piles.py

./train.py --model fusion_net --noise
./learned.py logs/XXX/weights/YYY

# use pretrained model
./download_pretrained_models.py

# inference in the test environments: ~/.cache/safepicking/pile_generation/00009000 - 00009999.pkl
./learned.py --weight-dir logs/20210709_005731-fusion_net-noise/weights/84500 \
             ~/.cache/safepicking/pile_generation/00009000.pkl

Robotic demonstration

robot-node  $ roslaunch safepicking_ros panda_control.launch

robot-agent $ roslaunch safepicking_ros setup.launch
robot-agent $ rosrun safepicking_ros safepicking_task_interface.py
>>> self.run([YcbObject.PITCHER])

Citation

@inproceedings{Wada:etal:ICRA2022a,
  title={{SafePicking}: Learning Safe Object Extraction via Object-Level Mapping},
  author={Kentaro Wada and Stephen James and Andrew J. Davison},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  year={2022},
}
You might also like...
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping

LVI-SAM This repository contains code for a lidar-visual-inertial odometry and mapping system, which combines the advantages of LIO-SAM and Vins-Mono

Tixiao Shan 1.1k Dec 27, 2022
Non-Official Pytorch implementation of
Non-Official Pytorch implementation of "Face Identity Disentanglement via Latent Space Mapping" https://arxiv.org/abs/2005.07728 Using StyleGAN2 instead of StyleGAN

Face Identity Disentanglement via Latent Space Mapping - Implement in pytorch with StyleGAN 2 Description Pytorch implementation of the paper Face Ide

Daniel Roich 58 Dec 24, 2022
Reaction SMILES-AA mapping via language modelling

rxn-aa-mapper Reactions SMILES-AA sequence mapping setup conda env create -f conda.yml conda activate rxn_aa_mapper In the following we consider on ex

null 16 Dec 13, 2022
[NeurIPS 2021 Spotlight] Aligning Pretraining for Detection via Object-Level Contrastive Learning
[NeurIPS 2021 Spotlight] Aligning Pretraining for Detection via Object-Level Contrastive Learning

SoCo [NeurIPS 2021 Spotlight] Aligning Pretraining for Detection via Object-Level Contrastive Learning By Fangyun Wei*, Yue Gao*, Zhirong Wu, Han Hu,

Yue Gao 139 Dec 14, 2022
ICRA 2021
ICRA 2021 "Towards Precise and Efficient Image Guided Depth Completion"

PENet: Precise and Efficient Depth Completion This repo is the PyTorch implementation of our paper to appear in ICRA2021 on "Towards Precise and Effic

null 232 Dec 25, 2022
Spatial Intention Maps for Multi-Agent Mobile Manipulation (ICRA 2021)
Spatial Intention Maps for Multi-Agent Mobile Manipulation (ICRA 2021)

spatial-intention-maps This code release accompanies the following paper: Spatial Intention Maps for Multi-Agent Mobile Manipulation Jimmy Wu, Xingyua

Jimmy Wu 70 Jan 2, 2023
Offcial repository for the IEEE ICRA 2021 paper Auto-Tuned Sim-to-Real Transfer.

Offcial repository for the IEEE ICRA 2021 paper Auto-Tuned Sim-to-Real Transfer.

null 47 Jun 30, 2022
Code for
Code for "FGR: Frustum-Aware Geometric Reasoning for Weakly Supervised 3D Vehicle Detection", ICRA 2021

FGR This repository contains the python implementation for paper "FGR: Frustum-Aware Geometric Reasoning for Weakly Supervised 3D Vehicle Detection"(I

Yi Wei 31 Dec 8, 2022
Aerial Single-View Depth Completion with Image-Guided Uncertainty Estimation (RA-L/ICRA 2020)
Aerial Single-View Depth Completion with Image-Guided Uncertainty Estimation (RA-L/ICRA 2020)

Aerial Depth Completion This work is described in the letter "Aerial Single-View Depth Completion with Image-Guided Uncertainty Estimation", by Lucas

ETHZ V4RL 70 Dec 22, 2022
Releases(v1.0.0)

  • v1.0.0(Feb 17, 2022)

Owner
Kentaro Wada
I'm a final-year PhD student at Imperial College London working on computer vision and robotics.
Kentaro Wada
GitHub Repository https://safepicking.wkentaro.com
Code for the TPAMI paper: "Syntax Customized Video Captioning by Imitating Exemplar Sentences"

Syntax-Customized-Video-Captioning Code for the TPAMI paper: "Syntax Customized Video Captioning by Imitating Exemplar Sentences". This is my second w

3 Dec 05, 2022
PyGAD, a Python 3 library for building the genetic algorithm and training machine learning algorithms (Keras & PyTorch).

PyGAD: Genetic Algorithm in Python PyGAD is an open-source easy-to-use Python 3 library for building the genetic algorithm and optimizing machine lear

Ahmed Gad 1.1k Dec 26, 2022
VL-LTR: Learning Class-wise Visual-Linguistic Representation for Long-Tailed Visual Recognition

VL-LTR: Learning Class-wise Visual-Linguistic Representation for Long-Tailed Visual Recognition Usage First, install PyTorch 1.7.1+, torchvision 0.8.2

40 Dec 12, 2022
Mixed Transformer UNet for Medical Image Segmentation

MT-UNet Update 2022/01/05 By another round of training based on previous weights, our model also achieved a better performance on ACDC (91.61% DSC). W

dotman 92 Dec 25, 2022
Official implementation of "SinIR: Efficient General Image Manipulation with Single Image Reconstruction" (ICML 2021)

SinIR (Official Implementation) Requirements To install requirements: pip install -r requirements.txt We used Python 3.7.4 and f-strings which are in

47 Oct 11, 2022
An unofficial styleguide and best practices summary for PyTorch

A PyTorch Tools, best practices & Styleguide This is not an official style guide for PyTorch. This document summarizes best practices from more than a

IgorSusmelj 1.5k Jan 05, 2023
A sketch extractor for anime/illustration.

Anime2Sketch Anime2Sketch: A sketch extractor for illustration, anime art, manga By Xiaoyu Xiang Updates 2021.5.2: Upload more example results of anim

Xiaoyu Xiang 1.6k Jan 01, 2023
PFFDTD is an open-source FDTD simulator for 3D room acoustics

PFFDTD is an open-source FDTD simulator for 3D room acoustics

Brian Hamilton 34 Nov 24, 2022
The official repository for paper ''Domain Generalization for Vision-based Driving Trajectory Generation'' submitted to ICRA 2022

DG-TrajGen The official repository for paper ''Domain Generalization for Vision-based Driving Trajectory Generation'' submitted to ICRA 2022. Our Meth

Wang 25 Sep 26, 2022
[ICLR2021] Unlearnable Examples: Making Personal Data Unexploitable

Unlearnable Examples Code for ICLR2021 Spotlight Paper "Unlearnable Examples: Making Personal Data Unexploitable " by Hanxun Huang, Xingjun Ma, Sarah

Hanxun Huang 98 Dec 07, 2022
Quantized models with python

quantized-network download .pth files to qmodels/: googlenet : https://download.

adreamxcj 2 Dec 28, 2021
Official Implementation of DAFormer: Improving Network Architectures and Training Strategies for Domain-Adaptive Semantic Segmentation

DAFormer: Improving Network Architectures and Training Strategies for Domain-Adaptive Semantic Segmentation [Arxiv] [Paper] As acquiring pixel-wise an

Lukas Hoyer 305 Dec 29, 2022
On Evaluation Metrics for Graph Generative Models

On Evaluation Metrics for Graph Generative Models Authors: Rylee Thompson, Boris Knyazev, Elahe Ghalebi, Jungtaek Kim, Graham Taylor This is the offic

13 Jan 07, 2023
Train emoji embeddings based on emoji descriptions.

emoji2vec This is my attempt to train, visualize and evaluate emoji embeddings as presented by Ben Eisner, Tim Rocktäschel, Isabelle Augenstein, Matko

Miruna Pislar 17 Sep 03, 2022
A simple code to convert image format and channel as well as resizing and renaming multiple images.

Rename-Resize-and-convert-multiple-images A simple code to convert image format and channel as well as resizing and renaming multiple images. This cod

Happy N. Monday 3 Feb 15, 2022
An open source machine learning library for performing regression tasks using RVM technique.

Introduction neonrvm is an open source machine learning library for performing regression tasks using RVM technique. It is written in C programming la

Siavash Eliasi 33 May 31, 2022
Python scripts performing class agnostic object localization using the Object Localization Network model in ONNX.

ONNX Object Localization Network Python scripts performing class agnostic object localization using the Object Localization Network model in ONNX. Ori

Ibai Gorordo 15 Oct 14, 2022
Shared Attention for Multi-label Zero-shot Learning

Shared Attention for Multi-label Zero-shot Learning Overview This repository contains the implementation of Shared Attention for Multi-label Zero-shot

dathuynh 26 Dec 14, 2022
Source code of the paper "Deep Learning of Latent Variable Models for Industrial Process Monitoring".

Source code of the paper "Deep Learning of Latent Variable Models for Industrial Process Monitoring".

Xiangyin Kong 7 Nov 08, 2022
[NeurIPS 2021] COCO-LM: Correcting and Contrasting Text Sequences for Language Model Pretraining

COCO-LM This repository contains the scripts for fine-tuning COCO-LM pretrained models on GLUE and SQuAD 2.0 benchmarks. Paper: COCO-LM: Correcting an

Microsoft 106 Dec 12, 2022