Spatial attention recurrent neural network (SARNN)

The model was trained with the MujocoUR5eCable dataset.

Install

See GitHub for installation.

Policy rollout

Run a trained policy:

$ python ./bin/rollout/RolloutSarnnMujocoUR5eCable.py \
--checkpoint <checkpoint_path>/SARNN.pth \
--cropped_img_size 280 --skip 6 --world_idx 0

The --cropped_img_size option must be the same as for dataset generation.

Technical Details

For more information on the technical details, please see the following paper:

@INPROCEEDINGS{SARNN_ICRA2022,
  author = {Ichiwara, Hideyuki and Ito, Hiroshi and Yamamoto, Kenjiro and Mori, Hiroki and Ogata, Tetsuya},
  title = {Contact-Rich Manipulation of a Flexible Object based on Deep Predictive Learning using Vision and Tactility},
  booktitle = {International Conference on Robotics and Automation},
  year = {2022},
  pages = {5375-5381},
  doi = {10.1109/ICRA46639.2022.9811940}
}