{"id":17923850,"url":"https://github.com/kevinzakka/form2fit","last_synced_at":"2025-03-24T02:33:24.653Z","repository":{"id":95376397,"uuid":"210271406","full_name":"kevinzakka/form2fit","owner":"kevinzakka","description":"[ICRA 2020] Train generalizable policies for kit assembly with self-supervised dense correspondence learning.","archived":true,"fork":false,"pushed_at":"2020-10-12T09:17:38.000Z","size":56151,"stargazers_count":82,"open_issues_count":5,"forks_count":24,"subscribers_count":13,"default_branch":"master","last_synced_at":"2025-02-14T05:30:18.576Z","etag":null,"topics":["deep-learning","perception","pytorch","robotics","self-supervised-learning"],"latest_commit_sha":null,"homepage":"https://form2fit.github.io/","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/kevinzakka.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2019-09-23T05:28:53.000Z","updated_at":"2024-09-26T23:10:28.000Z","dependencies_parsed_at":null,"dependency_job_id":"c2157d64-b763-4fe7-9a30-b1769576fc28","html_url":"https://github.com/kevinzakka/form2fit","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kevinzakka%2Fform2fit","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kevinzakka%2Fform2fit/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kevinzakka%2Fform2fit/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kevinzakka%2Fform2fit/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/kevinzakka","download_url":"https://codeload.github.com/kevinzakka/form2fit/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":245198946,"owners_count":20576472,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["deep-learning","perception","pytorch","robotics","self-supervised-learning"],"created_at":"2024-10-28T20:45:49.452Z","updated_at":"2025-03-24T02:33:22.260Z","avatar_url":"https://github.com/kevinzakka.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Form2Fit\n\nCode for the paper\n\n**[Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly][1]**\u003cbr/\u003e\n*Kevin Zakka, Andy Zeng, Johnny Lee, Shuran Song*\u003cbr/\u003e\n[arxiv.org/abs/1910.13675][2]\u003cbr/\u003e\nICRA 2020\n\n\u003cp align=\"center\"\u003e\n\u003cimg src=\"./assets/teaser.gif\" width=100% alt=\"Drawing\"\u003e\n\u003c/p\u003e\n\nThis repository contains:\n\n- The [Form2Fit Benchmark](docs/about_benchmark.md)\n  - Code to [download and process](#data) the benchmark datasets.\n  - Code to [evaluate](docs/evaluate_benchmark.md) any model's performance on the benchmark test set.\n- Code to [reproduce](docs/paper_code.md) the paper results:\n\t- Architectures, dataloaders and losses for suction, place and matching networks.\n\t- Planner module for intergrating all the outputs.\n  - Baseline implementation.\n\nIf you find this code useful, consider citing our work:\n\n```\n@inproceedings{zakka2020form2fit,\n  title={Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly},\n  author={Zakka, Kevin and Zeng, Andy and Lee, Johnny and Song, Shuran},\n  booktitle={Proceedings of the IEEE International Conference on Robotics and Automation},\n  year={2020}\n}\n```\n\n### Documentation\n\n- [setup](docs/setup.md)\n- [about the Form2Fit benchmark](docs/about_benchmark.md)\n- [reproducing paper results](docs/paper_code.md)\n- [evaluating a trained model](docs/evaluate_benchmark.md)\n- [model weights](docs/model_weights.md)\n- [conventions](docs/conventions.md)\n\n### Todos\n\n- [ ] Add processed generalization partition (combinations, mixtures and unseen) to benchmark.\n- [ ] Add code for training the different networks.\n\n### Note\n\nThis is not an officially supported Google product.\n\n[1]: https://form2fit.github.io/\n[2]: https://arxiv.org/abs/1910.13675\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkevinzakka%2Fform2fit","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkevinzakka%2Fform2fit","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkevinzakka%2Fform2fit/lists"}