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URDFormer

URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images
Zoey Chen, Aaron Walsman, Marius Memmel, Kaichun Mo, Alex Fang, Karthikeya Vemuri, Alan Wu, Dieter Fox*, Abhishek Gupta*

website, paper, Reality Gym (Coming Soon)

URDFormer represents a pipeline for large-scale simulation generation from real-world images. Given an image, whether sourced from the internet or captured with a phone, URDFormer predicts its corresponding interactive 'digital twin' in the URDF format. This URDF can then be loaded into a simulator to train robots for various tasks. For more details and visualizations, please visit our website.

Installation

1 . Clone URDFormer repo (this might take a few minutes):

git clone https://github.com/urdformer/urdformer.git
cd urdformer

2 . Create an new environment (we only tested URDFormer with python 3.9)

conda create -n urdformer python=3.9
conda activate urdformer

3 . Install all the required packages:

pip install -r requirements.txt

4 . Install pytorch version based on your cuda version. We only tested URDFormer on torch==1.12.1+cu113.

5 . Download all the checkpoints

[Option 1] You can either use the download script (this may take about 10 mins):

python download.py

[Option 2] or steps as below: Download link First create two folders to save pretrained models:

mkdir checkpoints
mkdir backbones

(a) Download URDFormer checkpoints for both global scenes and parts (global.pth, part.pth), and place them under checkpoints

(b) Download backbone checkpoint (mae_pretrain_hoi_vit_small.pth) and place it under backbones

(c) Download Finetuned GroudingDINO models (kitchen_souped.pth and object_souped.pth) with modelsoup method for object-level and scene-level, and place them under grounding_dino

After this step, your folder will look like:

urdformer/
├── backbones/
│   ├── mae_pretrain_hoi_vit_small.pth
├── checkpoints/
│   ├── global.pth
│   └── part.pth
├── grounding_dino/
│   ├── kitchen_souped.pth
│   └── object_souped.pth
...

6 . Install packages required for running GroundingDINO (tested on 1.12.1+cu113). If you have torch 2.1.0+c12.1, use mim install "mmcv<2.2.0"

pip install -U openmim
mim install mmengine
mim install "mmcv>=2.0.0" 

cd grounding_dino
pip install -v -e .
cd ..

Quickstart

If you just want to visualize examples we provide, simply run:

python demo.py --scene_type object --texture

If you are on a headless mode, run:

python demo.py --scene_type object --texture --headless

This will save images into the folder visualization

If you are running this the first time, this might take a few minutes to download pretrained weights.

Details

Put all your images under images, and the urdf predictions by default will be saved under output. We only release the checkpoint that's trained on 5 categories of objects: "cabinet", "oven", "dishwasher", "fridge" and "washer" (see groundingdino/detection.py), and one type of global scene "kitchen". Disclaimer: URDFormer was trained on dataset of objects with handles, so it works better on kitchens when handles on the cabinets are visible.

To run URDFormer for your image, there are 3 steps: (1) getting bounding boxes for objects and parts (2) Get textures (optional) (3) get URDF prediction.

1 . First step for URDFormer is getting reliable bounding boxes for parts and objects. To do this, we provide finetuned GroundingDINO weights with model soup approach, followed by an interactive GUI for user to further refine the boxes. Usually the prediction works fairly well for single object such as cabinets, but requries further refinements for global scenes.

python get_bbox.py --scene_type object

Note that you can also specify names such as "cabinet" or "washer" under --scene_type for better prompting used for GroundingDINO. Please use "--scene_type kitchen" when working with global scene prediction. All the predicted bboxes are saved in groundingdino/labels. We also have a further postprocessing step to remove duplicated boxes and save filtered results in groundingdino/labels_filtered

The GUI interface is pretty straightforward, the image is first initialized with predicted boxes from GroundingDINO, you can right click to select boxes, and choose from delete (remove all the selected boxes) or combine (combine all the selected boxes). You can simply click and drag to add boxes. When you are ready, click confirm. All the boxes will be saved into groundingdino/labels_manual. Note: Valid boxes are "drawer, door, handle, knob" for cabinets, and "door, drawer, handle" for dishwasher, oven, fridge and "door" for washer. Currently URDFormer doesn't support "oven knob".

Tips on GUI: For object-level boxes, we only care about part boxes such as drawer or handle, so please remove boxes on the entire object. For kitchen images, you first need to label boxes on objects only, after confirming the object boxes, it will go into each box and ask GroundingDINO or user for part boxes. For kitchen images, it's better to keep object boxes simple (group 2-3 doors together) for global URDFormer, and leave more complex part reasoning for part URDFormer.

2 . [Optional] Second step is to get textures. We simply crop the original image using the bbox obtained in step 1. This step leverages stable diffusion for better/diverse textures such as removing handles. We import these images into a texture UV map template,

python get_texture.py --scene_type object

Please use --scene_type kitchen when doing kitchen images. Note that this step will take about a few second to 1min per object depending on numbers of parts the object has. Alternatively, you can skip this step if you only want to generate URDFs. By default, the texture for inside the drawer is black, but you can change it to any images you like. Disclaimer: We used stable diffusion for inpainting handle regions, the generated images might be slightly different at different runs.

3 . Last step is the URDF prediction. For single object prediction, run:

python demo.py --scene_type object --texture

If you have skipped step 2, you can simply remove --texture.

For kitchen prediction, run:

python demo.py --scene_type kitchen --texture

You will see animated visualization in the pybullet GUI window (press G for better visualization).

For mesh randomization, you can add --random, we currently only support randomization on cabinet objects.

python demo.py --scene_type object --texture --random

All URDF results are saved under output. We provide basic script for sanity check:

python urdf_test.py --name label3.urdf

change label3.urdf to your urdf filename that you want to visualize.

Evaluation

To see kitchen examples with labeled bboxes shown in the paper, use the following step to reproduce: First, download and unzip the assets and labels used in the paper link.
replace asset_path with your download path. Run:

python evaluate.py

This will show URDFormer predictions on 54 kitchen scenes using manually labeled bounding boxes. We already saved all the texture maps for you inside assets/kitchens/textures.

Training

Details on how to generate data and train URDFormer are coming soon!

Citations

URDFormer

@misc{urdformer_2024,
    title={URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images},
    author  = {Zoey Chen and Aaron Walsman and Marius Memmel and Kaichun Mo and Alex Fang and Karthikeya Vemuri and Alan Wu and Dieter Fox and Abhishek Gupta},
    journal={arXiv preprint arXiv:2405.11656},    
year = {2024},
}

Questions or Issues?

Please file an issue with the issue tracker.