Updated version of this project is now located at:

https://github.com/arthurfenderbucker/LaTTe-Language-Trajectory-TransformEr

Main improvements:

• Trajectory modifications in the 3D space + speed
• Interactive modification in realtime with direct image input
• Multi-platform evaluation

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NL trajectory reshaper

IROS2022: Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers

example of multiple iterative interactions over the initial erroneous trajectory (red)

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
pip install git+https://github.com/openai/CLIP.git
pip install opencv-python

Download models

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

Download syntetic dataset

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

Running the visual demo

cd src
python modify_draw.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

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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

manually install CVbridge

Running with ROS

terminal 1

roscore

terminal 2

roscd NL_trajectory_reshaper/src
source $HOME/cvbridge_build_ws/install/setup.bash --extend
python modify_draw.py --ros true

Other relevant files

overview of the project model_overview.ipynb

plots and ablation studies plots_and_ablasion_exp.ipynb

generate syntetic dataset data_generator/data_generator.py