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
The official implementation of paper "Finding the Task-Optimal Low-Bit Sub-Distribution in Deep Neural Networks" (IJCV under review).

DGMS This is the code of the paper "Finding the Task-Optimal Low-Bit Sub-Distribution in Deep Neural Networks". Installation Our code works with Pytho

Runpei Dong 3 Aug 28, 2022
A new test set for ImageNet

ImageNetV2 The ImageNetV2 dataset contains new test data for the ImageNet benchmark. This repository provides associated code for assembling and worki

186 Dec 18, 2022
A new codebase for Group Activity Recognition. It contains codes for ICCV 2021 paper: Spatio-Temporal Dynamic Inference Network for Group Activity Recognition and some other methods.

Spatio-Temporal Dynamic Inference Network for Group Activity Recognition The source codes for ICCV2021 Paper: Spatio-Temporal Dynamic Inference Networ

40 Dec 12, 2022
The Malware Open-source Threat Intelligence Family dataset contains 3,095 disarmed PE malware samples from 454 families

MOTIF Dataset The Malware Open-source Threat Intelligence Family (MOTIF) dataset contains 3,095 disarmed PE malware samples from 454 families, labeled

Booz Allen Hamilton 112 Dec 13, 2022
Unofficial implement with paper SpeakerGAN: Speaker identification with conditional generative adversarial network

Introduction This repository is about paper SpeakerGAN , and is unofficially implemented by Mingming Huang ( 7 Jan 03, 2023

Politecnico of Turin Thesis: "Implementation and Evaluation of an Educational Chatbot based on NLP Techniques"

THESIS_CAIRONE_FIORENTINO Politecnico of Turin Thesis: "Implementation and Evaluation of an Educational Chatbot based on NLP Techniques" GENERATE TOKE

cairone_fiorentino97 1 Dec 10, 2021
Implementing Graph Convolutional Networks and Information Retrieval Mechanisms using pure Python and NumPy

Implementing Graph Convolutional Networks and Information Retrieval Mechanisms using pure Python and NumPy

Noah Getz 3 Jun 22, 2022
Framework for evaluating ANNS algorithms on billion scale datasets.

Billion-Scale ANN http://big-ann-benchmarks.com/ Install The only prerequisite is Python (tested with 3.6) and Docker. Works with newer versions of Py

Harsha Vardhan Simhadri 132 Dec 24, 2022
Code repository for Self-supervised Structure-sensitive Learning, CVPR'17

Self-supervised Structure-sensitive Learning (SSL) Ke Gong, Xiaodan Liang, Xiaohui Shen, Liang Lin, "Look into Person: Self-supervised Structure-sensi

Clay Gong 219 Dec 29, 2022
This code is for eCaReNet: explainable Cancer Relapse Prediction Network.

eCaReNet This code is for eCaReNet: explainable Cancer Relapse Prediction Network. (Towards Explainable End-to-End Prostate Cancer Relapse Prediction

Institute of Medical Systems Biology 2 Jul 28, 2022
FIGARO: Generating Symbolic Music with Fine-Grained Artistic Control

FIGARO: Generating Symbolic Music with Fine-Grained Artistic Control by Dimitri von Rütte, Luca Biggio, Yannic Kilcher, Thomas Hofmann FIGARO: Generat

Dimitri 83 Jan 07, 2023
chen2020iros: Learning an Overlap-based Observation Model for 3D LiDAR Localization.

Overlap-based 3D LiDAR Monte Carlo Localization This repo contains the code for our IROS2020 paper: Learning an Overlap-based Observation Model for 3D

Photogrammetry & Robotics Bonn 219 Dec 15, 2022
Semi-supervised learning for object detection

Source code for STAC: A Simple Semi-Supervised Learning Framework for Object Detection STAC is a simple yet effective SSL framework for visual object

Google Research 348 Dec 25, 2022
[NeurIPS-2021] Slow Learning and Fast Inference: Efficient Graph Similarity Computation via Knowledge Distillation

Efficient Graph Similarity Computation - (EGSC) This repo contains the source code and dataset for our paper: Slow Learning and Fast Inference: Effici

24 Dec 31, 2022
Linear Variational State Space Filters

Linear Variational State Space Filters To set up the environment, use the provided scripts in the docker/ folder to build and run the codebase inside

0 Dec 13, 2021
A port of muP to JAX/Haiku

MUP for Haiku This is a (very preliminary) port of Yang and Hu et al.'s μP repo to Haiku and JAX. It's not feature complete, and I'm very open to sugg

18 Dec 30, 2022
A GridMixup augmentation, inspired by GridMask and CutMix

GridMixup A GridMixup augmentation, inspired by GridMask and CutMix Easy install pip install git+https://github.com/IlyaDobrynin/GridMixup.git Overvie

IlyaDo 42 Dec 28, 2022
A simplistic and efficient pure-python neural network library from Phys Whiz with CPU and GPU support.

A simplistic and efficient pure-python neural network library from Phys Whiz with CPU and GPU support.

Manas Sharma 19 Feb 28, 2022
Implementation of the Point Transformer layer, in Pytorch

Point Transformer - Pytorch Implementation of the Point Transformer self-attention layer, in Pytorch. The simple circuit above seemed to have allowed

Phil Wang 501 Jan 03, 2023
Distilled coarse part of LoFTR adapted for compatibility with TensorRT and embedded divices

Coarse LoFTR TRT Google Colab demo notebook This project provides a deep learning model for the Local Feature Matching for two images that can be used

Kirill 46 Dec 24, 2022