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Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/jsk_apc.git
VCS Type git
VCS Version master
Last Updated 2019-11-05
Dev Status DEVELOPED
Released UNRELEASED

Package Description

Selective Dualarm Stowing

Additional Links

No additional links.

Maintainers

  • Shingo Kitagawa

Authors

  • Shingo Kitagawa

Selective Dualarm Stowing

Paper

Shingo Kitagawa, Kentaro Wada, Kei Okada, Masayuki Inaba:
Learning-based Task Failure Prediction for Selective Dual-arm Manipulation in Warehouse Stowing,
in The 15th International Conference on Intellignet Autonomous Systems, 2018.

Prerequisition

  • jsk_apc
  • Chainer

How to run

Data Collection

$ roslaunch jsk_2016_01_baxter_apc baxter.launch moveit:=true
# other pane
$ roslaunch jsk_2016_01_baxter_apc setup_for_stow.launch
# other pane
$ roslaunch selective_dualarm_stowing bimanual_stow_data_collection.launch
# other pane
$ rosrun selective_dualarm_stowing bimanual-stow-data-collection.l

Training

$ cd experiments
$ ./train_alex.py -h
usage: train_alex.py [-h] [--gpu GPU] [-o OUT] [--resume RESUME] [--loop LOOP]
                     [--threshold THRESHOLD] [--test-size TEST_SIZE]

optional arguments:
  -h, --help            show this help message and exit
  --gpu GPU
  -o OUT, --out OUT
  --resume RESUME
  --loop LOOP
  --threshold THRESHOLD
  --test-size TEST_SIZE
# Example
$ ./train_alex.py --gpu 0 -o ../logs/alex/latest --loop 10 --threshold 0.5 --test-size 0.2

Execution

$ roslaunch jsk_2016_01_baxter_apc baxter.launch moveit:=true
# other pane
$ roslaunch jsk_2016_01_baxter_apc setup_for_stow.launch
# other pane
$ roslaunch selective_dualarm_stowing selective_dualarm_stowing.launch
# other pane
$ rosrun selective_dualarm_stowing selective-stow.l

Citation

@inproceedings{SelectiveDualarmStowing:Kitagawa:IAS15,
  author={Shingo Kitagawa and Kentaro Wada and Kei Okada and Masayuki Inaba},
  booktitle={The 15th International Conference on Intellignet Autonomous Systems},
  title={Learning-based Task Failure Prediction for Selective Dual-arm Manipulation in Warehouse Stowing},
  year={2018},
  month={june}
}

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged selective_dualarm_stowing at answers.ros.org

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