SVAE for Soft Finger Force Prediction
This repository contains the implementation of the Supervised Variational Autoencoder for Soft Finger Force Prediction from the paper:
Autoencoding a Soft Touch to Learn Grasping Underwater
Ning Guo, Xudong Han, Xiaobo Liu, Fang Wan*, Chaoyang Song*
Datasets
- Download Soft Finger Dataset.
- Extract "dataset" folder to root directory of this git repository : /path/to/SoftFingerSvae
Training && Evaluation
- Cnn regression model: SoftFinger_cnn.py
- Vae model: SoftFinger_Vae.py
- Svae model: SoftFinger_Svae.py
Requirements
This code was developed with Python 3.8 on Ubuntu 18.04. Additional Python packages:
- pytorch
- pytorch_lightning
- torchmetrics
- numpy
- torchvision
- pandas
- skimage
- PILLOW