Target-oriented robotic manipulations to grasp an initially invisible target

choicelab, updated 🕥 2022-11-22 02:24:55

A Deep Learning Approach to Grasping the Invisible

This repository is for the paper

A Deep Learning Approach to Grasping the Invisible
Yang, Yang and Liang, Hengyue and Choi, Changhyun
arxiv.org/abs/1909.04840

video Introductory Video (with audio)

We study an emerging problem named "grasping the invisible" in robotic manipulation, in which a robot is tasked to grasp an initially invisible target object via a sequence of pushing and grasping actions. In this problem, pushes are needed to search for the target and rearrange cluttered objects around it to enable effective grasps. We propose to solve the problem by formulating a deep learning approach in a critic-policy format. The target-oriented motion critic, which maps both visual observations and target information to the expected future rewards of pushing and grasping motion primitives, is learned via deep Q-learning. We divide the problem into two subtasks, and two policies are proposed to tackle each of them, by combining the critic predictions and relevant domain knowledge. A Bayesian-based policy accounting for past action experience performs pushing to search for the target; once the target is found, a classifier-based policy coordinates target-oriented pushing and grasping to grasp the target in clutter. The motion critic and the classifier are trained in a self-supervised manner through robot-environment interactions. Our system achieves a 93% and 87% task success rate on each of the two subtasks in simulation and an 85% task success rate in real robot experiments on the whole problem, which outperforms several baselines by large margins.

overview System Overview

If you find this code useful, please consider citing our work:

@article{yang2020deep, title={A Deep Learning Approach to Grasping the Invisible}, author={Yang, Yang and Liang, Hengyue and Choi, Changhyun}, journal={IEEE Robotics and Automation Letters}, volume={5}, number={2}, pages={2232--2239}, year={2020}, doi={10.1109/LRA.2020.2970622}, publisher={IEEE} }

Dependencies

- Ubuntu 16.04 - Python 3 - PyTorch 0.4 The file of the conda environment is environment.yml. We use V-REP 3.5.0 as the simulation environment.

Code

We do experiments on a NVIDIA 1080 Ti GPU. It requires at least 8GB of GPU memory to run the code.

First run V-REP and open the file simulation/simulation.ttt to start the simulation. Then download the pre-trained models by running

sh downloads.sh

Training

To train from scratch, run

python main.py

You can also resume training from checkpoint and collected data python main.py --load_ckpt --critic_ckpt CRITIC-MODEL-PATH --coordinator_ckpt COORDINATOR-MODEL-PATH --continue_logging --logging_directory SESSION-DIRECTORY

Testing

python main.py --is_testing --test_preset_cases --test_target_seeking --load_ckpt --critic_ckpt CRITIC-MODEL-PATH --coordinator_ckpt COORDINATOR-MODEL-PATH --config_file TEST-CASE-PATH The files of the test cases are available in simulation/preset.

Acknowledgments

We use the following code in our project

Issues

Bump pillow from 5.2.0 to 9.3.0 in /light_weight_refinenet

opened on 2022-11-22 02:24:51 by dependabot[bot]

Bumps pillow from 5.2.0 to 9.3.0.

Release notes

Sourced from pillow's releases.

9.3.0

https://pillow.readthedocs.io/en/stable/releasenotes/9.3.0.html

Changes

... (truncated)

Changelog

Sourced from pillow's changelog.

9.3.0 (2022-10-29)

  • Limit SAMPLESPERPIXEL to avoid runtime DOS #6700 [wiredfool]

  • Initialize libtiff buffer when saving #6699 [radarhere]

  • Inline fname2char to fix memory leak #6329 [nulano]

  • Fix memory leaks related to text features #6330 [nulano]

  • Use double quotes for version check on old CPython on Windows #6695 [hugovk]

  • Remove backup implementation of Round for Windows platforms #6693 [cgohlke]

  • Fixed set_variation_by_name offset #6445 [radarhere]

  • Fix malloc in _imagingft.c:font_setvaraxes #6690 [cgohlke]

  • Release Python GIL when converting images using matrix operations #6418 [hmaarrfk]

  • Added ExifTags enums #6630 [radarhere]

  • Do not modify previous frame when calculating delta in PNG #6683 [radarhere]

  • Added support for reading BMP images with RLE4 compression #6674 [npjg, radarhere]

  • Decode JPEG compressed BLP1 data in original mode #6678 [radarhere]

  • Added GPS TIFF tag info #6661 [radarhere]

  • Added conversion between RGB/RGBA/RGBX and LAB #6647 [radarhere]

  • Do not attempt normalization if mode is already normal #6644 [radarhere]

... (truncated)

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Bump numpy from 1.14.3 to 1.22.0 in /light_weight_refinenet

opened on 2022-06-22 01:10:59 by dependabot[bot]

Bumps numpy from 1.14.3 to 1.22.0.

Release notes

Sourced from numpy's releases.

v1.22.0

NumPy 1.22.0 Release Notes

NumPy 1.22.0 is a big release featuring the work of 153 contributors spread over 609 pull requests. There have been many improvements, highlights are:

  • Annotations of the main namespace are essentially complete. Upstream is a moving target, so there will likely be further improvements, but the major work is done. This is probably the most user visible enhancement in this release.
  • A preliminary version of the proposed Array-API is provided. This is a step in creating a standard collection of functions that can be used across application such as CuPy and JAX.
  • NumPy now has a DLPack backend. DLPack provides a common interchange format for array (tensor) data.
  • New methods for quantile, percentile, and related functions. The new methods provide a complete set of the methods commonly found in the literature.
  • A new configurable allocator for use by downstream projects.

These are in addition to the ongoing work to provide SIMD support for commonly used functions, improvements to F2PY, and better documentation.

The Python versions supported in this release are 3.8-3.10, Python 3.7 has been dropped. Note that 32 bit wheels are only provided for Python 3.8 and 3.9 on Windows, all other wheels are 64 bits on account of Ubuntu, Fedora, and other Linux distributions dropping 32 bit support. All 64 bit wheels are also linked with 64 bit integer OpenBLAS, which should fix the occasional problems encountered by folks using truly huge arrays.

Expired deprecations

Deprecated numeric style dtype strings have been removed

Using the strings "Bytes0", "Datetime64", "Str0", "Uint32", and "Uint64" as a dtype will now raise a TypeError.

(gh-19539)

Expired deprecations for loads, ndfromtxt, and mafromtxt in npyio

numpy.loads was deprecated in v1.15, with the recommendation that users use pickle.loads instead. ndfromtxt and mafromtxt were both deprecated in v1.17 - users should use numpy.genfromtxt instead with the appropriate value for the usemask parameter.

(gh-19615)

... (truncated)

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Bump ipython from 6.4.0 to 7.16.3 in /light_weight_refinenet

opened on 2022-01-21 19:57:36 by dependabot[bot]

Bumps ipython from 6.4.0 to 7.16.3.

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Bump opencv-python from 3.4.1.15 to 4.2.0.32 in /light_weight_refinenet

opened on 2021-10-12 23:03:16 by dependabot[bot]

Bumps opencv-python from 3.4.1.15 to 4.2.0.32.

Release notes

Sourced from opencv-python's releases.

4.2.0.32

OpenCV version 4.2.0.

Changes:

  • macOS environment updated from xcode8.3 to xcode 9.4
  • macOS uses now Qt 5 instead of Qt 4
  • Nasm version updated to Docker containers
  • multibuild updated

Fixes:

  • don't use deprecated brew tap-pin, instead refer to the full package name when installing #267
  • replace get_config_var() with get_config_vars() in setup.py #274
  • add workaround for DLL errors in Windows Server #264

3.4.9.31

OpenCV version 3.4.9.

Changes:

  • macOS environment updated from xcode8.3 to xcode 9.4
  • macOS uses now Qt 5 instead of Qt 4
  • Nasm version updated to Docker containers
  • multibuild updated

Fixes:

  • don't use deprecated brew tap-pin, instead refer to the full package name when installing #267
  • replace get_config_var() with get_config_vars() in setup.py #274
  • add workaround for DLL errors in Windows Server #264

4.1.2.30

OpenCV version 4.1.2.

Changes:

... (truncated)

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Bump urllib3 from 1.23 to 1.26.5 in /light_weight_refinenet

opened on 2021-06-02 01:03:42 by dependabot[bot]

Bumps urllib3 from 1.23 to 1.26.5.

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Sourced from urllib3's releases.

1.26.5

:warning: IMPORTANT: urllib3 v2.0 will drop support for Python 2: Read more in the v2.0 Roadmap

  • Fixed deprecation warnings emitted in Python 3.10.
  • Updated vendored six library to 1.16.0.
  • Improved performance of URL parser when splitting the authority component.

If you or your organization rely on urllib3 consider supporting us via GitHub Sponsors

1.26.4

:warning: IMPORTANT: urllib3 v2.0 will drop support for Python 2: Read more in the v2.0 Roadmap

  • Changed behavior of the default SSLContext when connecting to HTTPS proxy during HTTPS requests. The default SSLContext now sets check_hostname=True.

If you or your organization rely on urllib3 consider supporting us via GitHub Sponsors

1.26.3

:warning: IMPORTANT: urllib3 v2.0 will drop support for Python 2: Read more in the v2.0 Roadmap

  • Fixed bytes and string comparison issue with headers (Pull #2141)

  • Changed ProxySchemeUnknown error message to be more actionable if the user supplies a proxy URL without a scheme (Pull #2107)

If you or your organization rely on urllib3 consider supporting us via GitHub Sponsors

1.26.2

:warning: IMPORTANT: urllib3 v2.0 will drop support for Python 2: Read more in the v2.0 Roadmap

  • Fixed an issue where wrap_socket and CERT_REQUIRED wouldn't be imported properly on Python 2.7.8 and earlier (Pull #2052)

1.26.1

:warning: IMPORTANT: urllib3 v2.0 will drop support for Python 2: Read more in the v2.0 Roadmap

  • Fixed an issue where two User-Agent headers would be sent if a User-Agent header key is passed as bytes (Pull #2047)

1.26.0

:warning: IMPORTANT: urllib3 v2.0 will drop support for Python 2: Read more in the v2.0 Roadmap

  • Added support for HTTPS proxies contacting HTTPS servers (Pull #1923, Pull #1806)

  • Deprecated negotiating TLSv1 and TLSv1.1 by default. Users that still wish to use TLS earlier than 1.2 without a deprecation warning should opt-in explicitly by setting ssl_version=ssl.PROTOCOL_TLSv1_1 (Pull #2002) Starting in urllib3 v2.0: Connections that receive a DeprecationWarning will fail

  • Deprecated Retry options Retry.DEFAULT_METHOD_WHITELIST, Retry.DEFAULT_REDIRECT_HEADERS_BLACKLIST and Retry(method_whitelist=...) in favor of Retry.DEFAULT_ALLOWED_METHODS, Retry.DEFAULT_REMOVE_HEADERS_ON_REDIRECT, and Retry(allowed_methods=...) (Pull #2000) Starting in urllib3 v2.0: Deprecated options will be removed

... (truncated)

Changelog

Sourced from urllib3's changelog.

1.26.5 (2021-05-26)

  • Fixed deprecation warnings emitted in Python 3.10.
  • Updated vendored six library to 1.16.0.
  • Improved performance of URL parser when splitting the authority component.

1.26.4 (2021-03-15)

  • Changed behavior of the default SSLContext when connecting to HTTPS proxy during HTTPS requests. The default SSLContext now sets check_hostname=True.

1.26.3 (2021-01-26)

  • Fixed bytes and string comparison issue with headers (Pull #2141)

  • Changed ProxySchemeUnknown error message to be more actionable if the user supplies a proxy URL without a scheme. (Pull #2107)

1.26.2 (2020-11-12)

  • Fixed an issue where wrap_socket and CERT_REQUIRED wouldn't be imported properly on Python 2.7.8 and earlier (Pull #2052)

1.26.1 (2020-11-11)

  • Fixed an issue where two User-Agent headers would be sent if a User-Agent header key is passed as bytes (Pull #2047)

1.26.0 (2020-11-10)

  • NOTE: urllib3 v2.0 will drop support for Python 2. Read more in the v2.0 Roadmap <https://urllib3.readthedocs.io/en/latest/v2-roadmap.html>_.

  • Added support for HTTPS proxies contacting HTTPS servers (Pull #1923, Pull #1806)

  • Deprecated negotiating TLSv1 and TLSv1.1 by default. Users that still wish to use TLS earlier than 1.2 without a deprecation warning

... (truncated)

Commits
  • d161647 Release 1.26.5
  • 2d4a3fe Improve performance of sub-authority splitting in URL
  • 2698537 Update vendored six to 1.16.0
  • 07bed79 Fix deprecation warnings for Python 3.10 ssl module
  • d725a9b Add Python 3.10 to GitHub Actions
  • 339ad34 Use pytest==6.2.4 on Python 3.10+
  • f271c9c Apply latest Black formatting
  • 1884878 [1.26] Properly proxy EOF on the SSLTransport test suite
  • a891304 Release 1.26.4
  • 8d65ea1 Merge pull request from GHSA-5phf-pp7p-vc2r
  • Additional commits viewable in compare view


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