NeuralSVCD

Install

Our code can be run on docker

docker compose pull
docker compose run --rm pointobjrep

# download asset for experiment
cd /app/PointObjRep
./scripts/download_asset.sh

Experiment

CCD evaluation

./scripts/evaluate_swept_volume.sh

Motion Planning

Multiple Dish Insertion

python evaluation/eval_motion_planner.py --config evaluation/mp_config/dish_multiple.yml --ccd_type ours
python evaluation/eval_motion_planner.py --config evaluation/mp_config/dish_multiple.yml --ccd_type curobo --curobo_moving_obj_npnts 50
python evaluation/eval_motion_planner.py --config evaluation/mp_config/dish_multiple.yml --ccd_type curobo --curobo_moving_obj_npnts 2000
python evaluation/eval_motion_planner.py --config evaluation/mp_config/dish_multiple_stamp.yml --ccd_type stamp

Bimanual Insertion

python evaluation/eval_motion_planner.py --config evaluation/mp_config/bimanual_hard.yml --ccd_type ours
python evaluation/eval_motion_planner.py --config evaluation/mp_config/bimanual_hard.yml --ccd_type curobo --curobo_moving_obj_npnts 100
python evaluation/eval_motion_planner.py --config evaluation/mp_config/bimanual_hard.yml --ccd_type curobo --curobo_moving_obj_npnts 1200
python evaluation/eval_motion_planner.py --config evaluation/mp_config/bimanual_hard_stamp.yml --ccd_type stamp

Mining Site Navigation

python evaluation/eval_motion_planner.py --config evaluation/mp_config/construction_site_hard.yml --ccd_type ours
python evaluation/eval_motion_planner.py --config evaluation/mp_config/construction_site_hard.yml --ccd_type curobo --curobo_moving_obj_npnts 50
python evaluation/eval_motion_planner.py --config evaluation/mp_config/construction_site_hard.yml --ccd_type curobo --curobo_moving_obj_npnts 400
python evaluation/eval_motion_planner.py --config evaluation/mp_config/construction_site_hard_stamp.yml --ccd_type stamp