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evf-public

This repo hosts the code for Experience-embedded Visual Foresight.

Disclaimer: code is hugely borrowed from Stochasitic Adversarial Video Prediction (SAVP) [paper | code]

Getting Started

Prerequisites

  • Linux or macOS
  • Python 3
  • CPU or NVIDIA GPU + CUDA CuDNN

Installation

  • Clone this repo:
git clone git@github.com:yenchenlin/evf-public.git
cd evf-public
  • Install dependencies
pip install -r requirements.txt
  • TensorFlow >= 1.9
  • Install ffmpeg, used to generate GIFs for visualization.

Download Omnipush

bash ./dataset/download_data.sh 

To train SAVP, pre-process the dataset into tfrecords.

python ./dataset/generate_tfrecords.py

To verify everything works correctly, dataset should contain the following directories.

dataset
├── omnipush            # raw image files, will be used for SVG
├── omnipush-tfrecords  # tfrecords, will be used for SAVP
└── ...

Training

To make sure dependencies are met, run Debug command first.

Debug

CUDA_VISIBLE_DEVICES=0 python scripts/train_evf.py --input_dir dataset/omnipush-tfrecords/ --dataset omnipush --dataset_hparams use_state=True,sequence_length=12 --model evf --model_hparams_dict hparams/bair_action_free/ours_vae_l1/debug.json --model_hparams batch_size=4 --output_dir logs/tmp/ours_vae_l1 --summary_freq 1 --image_summary_freq 1 --eval_summary_freq 1 --accum_eval_summary_freq 1 --debug_num_datasets 2

EVF

python scripts/train_evf.py --input_dir dataset/omnipush-tfrecords/ --dataset omnipush --dataset_hparams use_state=True,sequence_length=12 --model evf --model_hparams_dict hparams/bair_action_free/ours_vae_l1/debug.json --model_hparams batch_size=8 --output_dir logs/evf

SAVP

python scripts/train.py --input_dir dataset/omnipush-tfrecords/ --dataset omnipush --dataset_hparams use_state=True,sequence_length=12 --model savp --model_hparams_dict hparams/bair_action_free/ours_vae_l1/debug.json --model_hparams batch_size=8 --output_dir logs/savp-vae 

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Experience-embedded Visual Foresight, CoRL 2019

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