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
Training Very Deep Neural Networks Without Skip-Connections

DiracNets v2 update (January 2018): The code was updated for DiracNets-v2 in which we removed NCReLU by adding per-channel a and b multipliers without

Sergey Zagoruyko 585 Oct 12, 2022
Magic tool for managing internet connection in local network by @zalexdev

Megacut ✂️ A new powerful Python3 tool for managing internet on a local network Installation git clone https://github.com/stryker-project/megacut cd m

Stryker 12 Dec 15, 2022
Deep Watershed Transform for Instance Segmentation

Deep Watershed Transform Performs instance level segmentation detailed in the following paper: Min Bai and Raquel Urtasun, Deep Watershed Transformati

193 Nov 20, 2022
The project is an official implementation of our CVPR2019 paper "Deep High-Resolution Representation Learning for Human Pose Estimation"

Deep High-Resolution Representation Learning for Human Pose Estimation (CVPR 2019) News [2020/07/05] A very nice blog from Towards Data Science introd

Leo Xiao 3.9k Jan 05, 2023
Project page for the paper Semi-Supervised Raw-to-Raw Mapping 2021.

Project page for the paper Semi-Supervised Raw-to-Raw Mapping 2021.

Mahmoud Afifi 22 Nov 08, 2022
CrossNorm and SelfNorm for Generalization under Distribution Shifts (ICCV 2021)

CrossNorm (CN) and SelfNorm (SN) (Accepted at ICCV 2021) This is the official PyTorch implementation of our CNSN paper, in which we propose CrossNorm

100 Dec 28, 2022
Training PSPNet in Tensorflow. Reproduce the performance from the paper.

Training Reproduce of PSPNet. (Updated 2021/04/09. Authors of PSPNet have provided a Pytorch implementation for PSPNet and their new work with support

Li Xuhong 126 Jul 13, 2022
Line-level Handwritten Text Recognition (HTR) system implemented with TensorFlow.

Line-level Handwritten Text Recognition with TensorFlow This model is an extended version of the Simple HTR system implemented by @Harald Scheidl and

Hoàng Tùng Lâm (Linus) 72 May 07, 2022
The Official Repository for "Generalized OOD Detection: A Survey"

Generalized Out-of-Distribution Detection: A Survey 1. Overview This repository is with our survey paper: Title: Generalized Out-of-Distribution Detec

Jingkang Yang 338 Jan 03, 2023
Code for the paper "TadGAN: Time Series Anomaly Detection Using Generative Adversarial Networks"

TadGAN: Time Series Anomaly Detection Using Generative Adversarial Networks This is a Python3 / Pytorch implementation of TadGAN paper. The associated

Arun 92 Dec 03, 2022
YOLOX Win10 Project

Introduction 这是一个用于Windows训练YOLOX的项目，相比于官方项目，做了一些适配和修改： 1、解决了Windows下import yolox失败，No such file or directory: 'xxx.xml'等路径问题 2、CUDA out of memory等显存不

5 Jun 08, 2022
The UI as a mobile display for OP25

OP25 Mobile Control Head A 'remote' control head that interfaces with an OP25 instance. We take advantage of some data end-points left exposed for the

Sarah Rose Giddings 13 Dec 28, 2022
Python library for computer vision labeling tasks. The core functionality is to translate bounding box annotations between different formats-for example, from coco to yolo.

PyLabel pip install pylabel PyLabel is a Python package to help you prepare image datasets for computer vision models including PyTorch and YOLOv5. I

PyLabel Project 176 Jan 01, 2023
RL algorithm PPO and IRL algorithm AIRL written with Tensorflow.

RL algorithm PPO and IRL algorithm AIRL written with Tensorflow. They have a parallel sampling feature in order to increase computation speed (especially in high-performance computing (HPC)).

Fangjian Li 3 Dec 28, 2021
🔎 Super-scale your images and run experiments with Residual Dense and Adversarial Networks.

Image Super-Resolution (ISR) The goal of this project is to upscale and improve the quality of low resolution images. This project contains Keras impl

idealo 4k Jan 08, 2023
Official Implementation (PyTorch) of "Point Cloud Augmentation with Weighted Local Transformations", ICCV 2021

PointWOLF: Point Cloud Augmentation with Weighted Local Transformations This repository is the implementation of PointWOLF(To appear). Sihyeon Kim1*,

MLV Lab (Machine Learning and Vision Lab at Korea University) 16 Nov 03, 2022
Spatial Action Maps for Mobile Manipulation (RSS 2020)

spatial-action-maps Update: Please see our new spatial-intention-maps repository, which extends this work to multi-agent settings. It contains many ne

Jimmy Wu 27 Nov 30, 2022
Mixup for Supervision, Semi- and Self-Supervision Learning Toolbox and Benchmark

OpenSelfSup News Downstream tasks now support more methods(Mask RCNN-FPN, RetinaNet, Keypoints RCNN) and more datasets(Cityscapes). 'GaussianBlur' is

AI Lab, Westlake University 332 Jan 03, 2023
Bayesian dessert for Lasagne

Gelato Bayesian dessert for Lasagne Recent results in Bayesian statistics for constructing robust neural networks have proved that it is one of the be

Maxim Kochurov 84 May 11, 2020
A FAIR dataset of TCV experimental results for validating edge/divertor turbulence models.

TCV-X21 validation for divertor turbulence simulations Quick links Intro Welcome to TCV-X21. We're glad you've found us! This repository is designed t

0 Dec 18, 2021