Awesome
Emergence of exploratory look-around behaviors through active observation completion
This repository contains the code for the paper:
Emergence of exploratory look-around behaviors through active observation completion
Santhosh K. Ramakrishnan, Dinesh Jayaraman, Kristen Grauman
Science Robotics 2019
Note
This is a cleaned version of the original code used to generate the results from the paper. As a result, there may be small differences in the actual results obtained by training models using the code. Please contact me if further details are needed.
Setup
- First install anaconda and setup a new environment. Install anaconda from: https://www.anaconda.com/download/
conda create -n spl python=2.7
source activate spl
- Clone this repository and setup requirements through pip.
git clone https://github.com/srama2512/visual-exploration.git
cd visual-exploration
pip install -r requirements.txt
- Download preprocessed SUN360 and ModelNet data.
mkdir data
cd data
wget http://vision.cs.utexas.edu/projects/sidekicks/scirobo-2019-data.zip
unzip scirobo-2019-data.zip
- Add the repository to
PYTHONPATH
. Please add this line to~/.bashrc
.
export PYTHONPATH=<path-to-repository>:$PYTHONPATH
The downloaded zip file will consist of the following data:
- Lookaround task:
data/SUN360/lookaround.h5
data/ModelNet/lookaround_modelnet40.h5
data/ModelNet/lookaround_modelnet10.h5
- Recognition task:
data/SUN360/recognition.h5
data/ModelNet/recognition_modelnet10.h5
- Light source localization task:
data/ModelNet/lsl_modelnet10.h5
data/ModelNet/lsl_labels_modelnet10.h5
- Metric tasks:
data/ModelNet/metric_labels_modelnet10.h5
The source code for individual tasks are provided in src/
. Each task has its own train.py
and eval.py
scripts.
TODO
- Provide pre-trained models
- Instructions for evaluating pre-trained models
- Instructions for training task-specific models