visual-pushing-grasping
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andyzeng
Train robotic agents to learn to plan pushing and grasping actions for manipulation with deep reinforcement learning.
One Issue I identfiied is that it gets stuck trying to open the gripper, which I fixed by setting the gripper joint position threshold to 0.03. It now mostly works,...
Hi Andy! Could you please give some insights about doubling the input size? Zoom image by 2, go through network and then upsample by 16 to recover the resolution. Why...
I cannot understand these codes ``` def push_heuristic(self, depth_heightmap): num_rotations = 16 for rotate_idx in range(num_rotations): rotated_heightmap = ndimage.rotate(depth_heightmap, rotate_idx*(360.0/num_rotations), reshape=False, order=0) valid_areas = np.zeros(rotated_heightmap.shape) valid_areas[ndimage.interpolation.shift(rotated_heightmap, [0,-25], order=0) - rotated_heightmap...
Dear Andy Zeng， I am a newcomer to the field of reinforcement learning.I saw your study on github - Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning,...
Hi, I found that the tool_rotation_angle is calculated in different ways for the simulation case and the real case in grasp() and push() functions of robot.py. In robot.py, (simulation case)...
I was training with real UR5 through main.py. but, it occurred the error like following : >Traceback (most recent call last): File "main.py", line 446, in main(args) File "main.py", line...
Hi, thanks for your great work. Your work is very attractive. I tried to set up camera system and installed librealsense SDK 2.0, but I met a problem. The terminal...
I tried to run the demo in simulation. However, it stopped and couldn't grasp the block. The terminal dispalys as following picture.  
Getting cuDNN error while trying to run the demo. Complete stack trace. File "/home/nimble/VPG/visual-pushing-grasping/trainer.py", line 171, in forward output_prob, state_feat = self.model.forward(input_color_data, input_depth_data, is_volatile, specific_rotation) File "/home/nimble/VPG/visual-pushing-grasping/models.py", line 231, in...
