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This is a modification of GG-CNN

Note: This repository is based on the original implementation. The original implementation is here.

Modifications

Usage

  1. You should download the GraspNet 1Billion Dataset first. (abbre. gn1b)

  2. Install graspnetAPI following here.

    pip install graspnetAPI
    
  3. Change the graspnet_root in script convert_gn1b_2_cornell.py, then run it to convert the dataset format into Cornell Dataset format.

  4. Run the training script train_ggcnn.py to train the model using gn1b Dataset.

    Example

    python train_ggcnn.py --network ggcnn2 --dataset graspnet1b --dataset-path path-to-gn1b --camera realsense --epochs 20 --batch-size 16 --num-workers 20 --description ggcnn2_gn1b
    

Reference

GG-CNN

GraspNet Dateset