LaTTe: LAnguage Trajectory TransformEr

setup

_{tested on Ubuntu 18.04 and 20.04}

install anaconda

Environment setup

conda create --name py38 --file spec-file.txt python=3.8
conda activate py38

Install CLIP + opencv

pip install ftfy regex tqdm dqrobotics rospkg similaritymeasures Cython
pip install git+https://github.com/openai/CLIP.git
pip install opencv-python

Download models

pip install gdown
gdown --folder https://drive.google.com/drive/folders/1HQNwHlQUOPMnbPE-3wKpIb6GMBz5eqDg?usp=sharing -O models/.

Download synthetic dataset

gdown --folder https://drive.google.com/drive/folders/1_bhWWa9upUWwUs7ln8jaWG_bYxtxuOCt?usp=sharing -O data/.

Download image dataset(optional)

gdown --folder https://drive.google.com/drive/folders/1Pok_sU_cK3RXZEpMfJb6SQIcCUfBjJhh?usp=sharing -O image_data/.

Configure the paths at src/config.py

Animated demo

follow the notebook interactive_user_study.ipynb

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Running the visual demo - Deprecate

cd src
python interactive.py

How to use:

1. press 'o' to load the original trajectory
2. press 'm' to modify the trajectory using our model for the given input on top.
3. press 't' to set a different interaction text.
4. press 'u' to update the trajctory setting the modified traj as the original one

intructions for additional keyboard commands are shown in script output.

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ROS setup:

IMPORTANT: make sure that conda isn't initialized in your .bashrc file, otherwise, you might face conflicts between the python versions

install ROS melodic

For realtime object detection:

git clone https://github.com/arthurfenderbucker/realsense_3d_detector.git

Running with ROS

terminal 1

roscore

terminal 2

roscd latte/src
python interactive.py --ros true

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coppelia_simulator + ROS + anaconda setup

install coppelia simulator https://www.coppeliarobotics.com/helpFiles/en/ros1Tutorial.htm add export COPPELIASIM_ROOT_DIR=~/path/to/coppeliaSim/folde to your ~/.bashrc

cd <ros_workspace>/src
git clone https://github.com/CoppeliaRobotics/ros_bubble_rob
git clone --recursive https://github.com/CoppeliaRobotics/simExtROS.git sim_ros_interface
cd <ros_workspace>

catkin config -DPYTHON_EXECUTABLE=$CONDA_PREFIX/bin/python -DPYTHON_INCLUDE_DIR=$CONDA_PREFIX/include/python3.8 -DPYTHON_LIBRARY=$CONDA_PREFIX/lib/libpython3.8.so -DSETUPTOOLS_DEB_LAYOUT=OFF

catkin config --install
catkin build

Other relevant files

overview of the project model_overview.ipynb

model variations and ablasion studies Results.ipynb

user study interface user_study.py

generate syntetic dataset src/data_generator_script.py