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Unsupervised Learning of Object Keypoints for Perception and Control

https://arxiv.org/abs/1906.11883

timesteps figure heatmaps figure heatmaps figure

To generate data for training on Atari Pong. Run

python generate_data.py

Check python generate_data.py -h for usage.

To train the Transporter model. Run

python train_pong.py

A notebook demo.ipynb has also been added for demonstration purpose. The notebook includes visualization of the (un)normalized heatmaps generated by the PointNet.