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DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation

WAFR 2024

Project Page| Paper

Installation

Pull the code

git clone --recursive https://github.com/momentum-robotics-lab/deformgs.git

Conda in Docker We use docker to run the code, you will need to install docker and nvidia-docker. You can replicate our setup using the following commands:

docker pull bartduis/4dgaussians:latest
docker run -it --gpus all --network=host --shm-size=50G  --name deformgs -v /home/username:/workspace bartduis/4dgaussians:latest
conda activate Gaussians4D
cd /workspace 
pip install -e submodules/depth-diff-gaussian-rasterization
pip install -e submodules/simple-knn
pip3 install h5py open3d seaborn

Conda without Docker This has not been tested exhaustively, but worked in our testing.

conda create -n deformgs python=3.7 
conda activate deformgs

pip install -r requirements.txt
pip install -e submodules/depth-diff-gaussian-rasterization
pip install -e submodules/simple-knn

Docker without Conda

We also provide a dockerfile and image without Conda. You can build the docker image by running the following command:

docker build -f deformgs.dockerfile -t deformgs .

If you don't want to build the docker image, you can pull a pre-built image from docker hub:

docker pull bartduis/deformgs:latest

Now create a container from the image and run it.

docker run -it --gpus all --network=host --shm-size=50G  --name deformgs -v /home/username:/workspace deformgs
cd /workspace 
pip install -e submodules/depth-diff-gaussian-rasterization
pip install -e submodules/simple-knn

Please let us know if you experience any issues with installing the code, using docker with Conda should be most reliable, this is how we ran the experiments.

Data from the Paper

We make the data used in the paper available here. Place the downloaded folders in the deformgs/data/ folder to arrive at a folder structure like this:

├── data
│   | robo360 
│     ├── cloth
│     ├── duvet
│     ├── xarm_fold_tshirt
│   | synthetic 
│     ├── scene_1
│     ├── ...
│     ├── scene_6

Training

To train models for all scenes from the paper, run the following scripts.

./run_scripts/run_all_synthetic.sh
./run_scripts/run_all_robo360.sh

Rendering

Run the following script to render images for all scenes.

./run_scripts/render_all_synthetic.sh
./run_scripts/render_all_robo360.sh

How to prepare your dataset?

Follow the readme's in the robo360 submodule here, and in the XMem folder here.

Contributions

Some source code of ours is borrowed from 3DGS, k-planes,HexPlane, TiNeuVox, 4DGS. We appreciate the excellent works of these authors.

Citation

@inproceedings{duisterhof2024deformgs,
      title={DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation}, 
      author={ Bardienus P. Duisterhof, Zhao Mandi, Yunchao Yao, Jia-Wei Liu, Jenny Seidenschwarz, Mike Zheng Shou, Deva ramanan, Shuran Song,
      Stan Birchfield, Bowen Wen, Jeffrey Ichnowski},
      booktitle={The 16th International Workshop on the Algorithmic Foundations of Robotics (WAFR)}
      year={2024},
}