Code for paper 'Hand-Object Contact Consistency Reasoning for Human Grasps Generation' at ICCV 2021

Related tags

Deep LearningGraspTTA
Overview

GraspTTA

Hand-Object Contact Consistency Reasoning for Human Grasps Generation (ICCV 2021). report

Project Page with Videos

Teaser

Demo

Quick Results Visualization

We provide generated grasps on out-of-domain HO-3D dataset (saved at ./diverse_grasp/ho3d), you can visualize the results by:

python vis_diverse_grasp --obj_id=6

The visualization will look like this:

Visualization

Generate diverse grasps on out-of-domain HO-3D dataset (the model is trained on ObMan dataset)

You can also generate the grasps by yourself

  • First, download pretrained weights, unzip and put into checkpoints.

  • Second, download the MANO model files (mano_v1_2.zip) from MANO website. Unzip and put mano/models/MANO_RIGHT.pkl into models/mano.

  • Third, download HO-3D object models, unzip and put into models/HO3D_Object_models.

  • The structure should look like this:

GraspTTA/
  checkpoints/
    model_affordance_best_full.pth
    model_cmap_best.pth
  models/
    HO3D_Object_models/
      003_cracker_box/
        points.xyz
        textured_simple.obj
        resampled.npy
       ......
    mano/
      MANO_RIGHT.pkl
  • Then, install the V-HACD for building the simulation of grasp displacement. Change this line to your own path.
  • Finally, run run.sh for installing other dependencies and start generating grasps.

Generate grasps on custom objects

  • First, resample 3000 points on object surface as the input of the network. You can use this function.
  • Second, write your own dataloader and related code in gen_diverse_grasp_ho3d.py.

Training code

Upsate soon

Citation

@inproceedings{jiang2021graspTTA,
          title={Hand-Object Contact Consistency Reasoning for Human Grasps Generation},
          author={Jiang, Hanwen and Liu, Shaowei and Wang, Jiashun and Wang, Xiaolong},
          booktitle={Proceedings of the International Conference on Computer Vision},
          year={2021}
}

Acknowledgments

We thank:

  • MANO provided by Omid Taheri.
  • This implementation of PointNet.
  • This implementation of CVAE.
📚 A collection of Jupyter notebooks for learning and experimenting with OpenVINO 👓

A collection of ready-to-run Python* notebooks for learning and experimenting with OpenVINO developer tools. The notebooks are meant to provide an introduction to OpenVINO basics and teach developers

OpenVINO Toolkit 840 Jan 03, 2023
Colab notebook for openai/glide-text2im.

GLIDE text2im on Colab This repository provides a Colab notebook to produce images conditioned on text prompts with GLIDE [1]. Usage Run text2im.ipynb

Wok 19 Oct 19, 2022
Paddle-Skeleton-Based-Action-Recognition - DecoupleGCN-DropGraph, ASGCN, AGCN, STGCN

Paddle-Skeleton-Action-Recognition DecoupleGCN-DropGraph, ASGCN, AGCN, STGCN. Yo

Chenxu Peng 3 Nov 02, 2022
Expressive Power of Invariant and Equivaraint Graph Neural Networks (ICLR 2021)

Expressive Power of Invariant and Equivaraint Graph Neural Networks In this repository, we show how to use powerful GNN (2-FGNN) to solve a graph alig

Marc Lelarge 36 Dec 12, 2022
HiFT: Hierarchical Feature Transformer for Aerial Tracking (ICCV2021)

HiFT: Hierarchical Feature Transformer for Aerial Tracking Ziang Cao, Changhong Fu, Junjie Ye, Bowen Li, and Yiming Li Our paper is Accepted by ICCV 2

Intelligent Vision for Robotics in Complex Environment 55 Nov 23, 2022
Implementation of Retrieval-Augmented Denoising Diffusion Probabilistic Models in Pytorch

Retrieval-Augmented Denoising Diffusion Probabilistic Models (wip) Implementation of Retrieval-Augmented Denoising Diffusion Probabilistic Models in P

Phil Wang 55 Jan 01, 2023
Source code for the plant extraction workflow introduced in the paper “Agricultural Plant Cataloging and Establishment of a Data Framework from UAV-based Crop Images by Computer Vision”

Plant extraction workflow Source code for the plant extraction workflow introduced in the paper "Agricultural Plant Cataloging and Establishment of a

Maurice GĂĽnder 0 Apr 22, 2022
PyTorch implementation of probabilistic deep forecast applied to air quality.

Probabilistic Deep Forecast PyTorch implementation of a paper, titled: Probabilistic Deep Learning to Quantify Uncertainty in Air Quality Forecasting

Abdulmajid Murad 13 Nov 16, 2022
《DeepViT: Towards Deeper Vision Transformer》(2021)

DeepViT This repo is the official implementation of "DeepViT: Towards Deeper Vision Transformer". The repo is based on the timm library (https://githu

109 Dec 02, 2022
Pytorch implementation for Semantic Segmentation/Scene Parsing on MIT ADE20K dataset

Semantic Segmentation on MIT ADE20K dataset in PyTorch This is a PyTorch implementation of semantic segmentation models on MIT ADE20K scene parsing da

MIT CSAIL Computer Vision 4.5k Jan 08, 2023
Semi-Supervised Signed Clustering Graph Neural Network (and Implementation of Some Spectral Methods)

SSSNET SSSNET: Semi-Supervised Signed Network Clustering For details, please read our paper. Environment Setup Overview The project has been tested on

Yixuan He 9 Nov 24, 2022
Official implementation of the ICCV 2021 paper: "The Power of Points for Modeling Humans in Clothing".

The Power of Points for Modeling Humans in Clothing (ICCV 2021) This repository contains the official PyTorch implementation of the ICCV 2021 paper: T

Qianli Ma 158 Nov 24, 2022
ZeroVL - The official implementation of ZeroVL

This repository contains source code necessary to reproduce the results presente

31 Nov 04, 2022
Aws-machine-learning-university-accelerated-tab - Machine Learning University: Accelerated Tabular Data Class

Machine Learning University: Accelerated Tabular Data Class This repository contains slides, notebooks, and datasets for the Machine Learning Universi

AWS Samples 916 Dec 23, 2022
Employs neural networks to classify images into four categories: ship, automobile, dog or frog

Neural Net Image Classifier Employs neural networks to classify images into four categories: ship, automobile, dog or frog Viterbi_1.py uses a classic

Riley Baker 1 Jan 18, 2022
Deep learning for Engineers - Physics Informed Deep Learning

SciANN: Neural Networks for Scientific Computations SciANN is a Keras wrapper for scientific computations and physics-informed deep learning. New to S

SciANN 195 Jan 03, 2023
Invariant Causal Prediction for Block MDPs

MISA Abstract Generalization across environments is critical to the successful application of reinforcement learning algorithms to real-world challeng

Meta Research 41 Sep 17, 2022
Pytorch Lightning Distributed Accelerators using Ray

Distributed PyTorch Lightning Training on Ray This library adds new PyTorch Lightning plugins for distributed training using the Ray distributed compu

167 Jan 02, 2023
The 7th edition of NTIRE: New Trends in Image Restoration and Enhancement workshop will be held on June 2022 in conjunction with CVPR 2022.

NTIRE 2022 - Image Inpainting Challenge Important dates 2022.02.01: Release of train data (input and output images) and validation data (only input) 2

Andrés Romero 37 Nov 27, 2022
The Empirical Investigation of Representation Learning for Imitation (EIRLI)

The Empirical Investigation of Representation Learning for Imitation (EIRLI)

Center for Human-Compatible AI 31 Nov 06, 2022