deep-learning-latent-space

Learning Latent Space of Compliant Objects with Deep Learning for Robotic Grasping

Installation

Make sure you have CUDA before proceeding with the installation.

conda env create -f torch-env.yml
conda activate torch

Download data

Download the shapenet and shapenet_car folders from this link, and save them to the folder source/data.

Build chamfer distance

conda activate torch
cd source/utils/pcd/chamfer
python setup.py install

Usage

• Navigate to the /dl_models folder: cd source
• Activate the conda environment: conda activate torch
• Start visdom for visualization during training: visdom
• [Optional] See training summaries on tensorboardX: tensorboard --logdir experiments/<name_of_experiment>
• Train the network: python main.py configs/pcn.json