/FSG-Net

Primary LanguagePython

FSG-Net

The work is developed in collaboration with bach05 and albigotta. Please cite these papers in your publications if FSG-Net helps your research.

@inproceedings{barcellona2023fsg,
title={FSG-Net: a Deep Learning model for Semantic Robot Grasping through Few-Shot Learning},
author={Barcellona, Leonardo and Bacchin, Alberto and Gottardi, Alberto and Menegatti, Emanuele and Ghidoni, Stefano},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
pages={1793--1799},
year={2023},
organization={IEEE}
}

Work in progress

The repository is under construction to provide a user-friendly interface and a more readable code. The draft code we developed is already available.

Installation and setup

pip install -r requirements.txt

Pretrained Models

Pre-trained models are available, please refer to the following list:

  • Few-Shot Module: LINK, destination folder: ./output/models/fewshot_modules
  • Backbone: LINK, destination folder: ./output/models/backbones
  • Quality Head: LINK, destination folder: ./output/models/heads
  • Angle Head: LINK, destination folder: ./output/models/heads
  • Width Head: LINK, destination folder: ./output/models/heads folder.

Training

Configuration file

The training process (e.g. training hyperparameters, paths, ecc...) can be configured through ./config/generic.yaml files.

[DETAILED EXPLANTION]

Run the training

python3 train.py

TEST

[ADD THE CODE FOR TESTING]