{"id":19134045,"url":"https://github.com/um-arm-lab/stucco_experiments","last_synced_at":"2026-06-22T11:31:30.306Z","repository":{"id":79651057,"uuid":"602743645","full_name":"UM-ARM-Lab/stucco_experiments","owner":"UM-ARM-Lab","description":"Experiments for STUCCO","archived":false,"fork":false,"pushed_at":"2024-08-28T02:48:00.000Z","size":112,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":9,"default_branch":"master","last_synced_at":"2025-11-13T11:22:37.709Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"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/UM-ARM-Lab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.txt","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-02-16T21:11:00.000Z","updated_at":"2024-08-28T02:48:03.000Z","dependencies_parsed_at":"2024-08-28T03:49:24.059Z","dependency_job_id":"79d872f6-7c13-48d2-b6a8-b367bbd92e61","html_url":"https://github.com/UM-ARM-Lab/stucco_experiments","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/UM-ARM-Lab/stucco_experiments","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fstucco_experiments","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fstucco_experiments/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fstucco_experiments/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fstucco_experiments/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/UM-ARM-Lab","download_url":"https://codeload.github.com/UM-ARM-Lab/stucco_experiments/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fstucco_experiments/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":34647747,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-06-22T02:00:06.391Z","response_time":106,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"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":[],"created_at":"2024-11-09T06:25:03.300Z","updated_at":"2026-06-22T11:31:30.288Z","avatar_url":"https://github.com/UM-ARM-Lab.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# STUCCO Experiments\n\nThis is the official experiments code for the paper [Soft Tracking Using Contacts for Cluttered Objects (STUCCO) to Perform Blind Object Retrieval](https://ieeexplore.ieee.org/document/9696372).\nIf you use it, please cite\n\n```\n@article{zhong2022soft,\n  title={Soft tracking using contacts for cluttered objects to perform blind object retrieval},\n  author={Zhong, Sheng and Fazeli, Nima and Berenson, Dmitry},\n  journal={IEEE Robotics and Automation Letters},\n  volume={7},\n  number={2},\n  pages={3507--3514},\n  year={2022},\n  publisher={IEEE}\n}\n```\n\n## Installation (experiments)\n\n1. install [base experiments](https://github.com/UM-ARM-Lab/base_experiments) by following its readme\n2. clone repository locally and `cd` into it\n3. `pip install -e .`\n\n## Usage\nThis is the full experiments to reproduce the results from the paper.\nSee the [light-weight library repository](https://github.com/UM-ARM-Lab/stucco) for how to use STUCCO\nin your projects. \nSee the [website](https://johnsonzhong.me/projects/stucco/) for videos and a high level introduction.\n\n\n## Reproduce Paper\nAll scripts are under the `scripts` directory. Run everything while in this directory. \n\n1. collect training data\n\n```shell\npython collect_tracking_training_data.py --task SELECT1 --gui\npython collect_tracking_training_data.py --task SELECT2 --gui\npython collect_tracking_training_data.py --task SELECT3 --gui\npython collect_tracking_training_data.py --task SELECT4 --gui\n```\n\n2. evaluate all tracking methods on this data; you can find the clustering result and ground truth for each trial\n   in `~/experiments/data/cluster_res`\n\n```shell\npython evaluate_contact_tracking.py\n```\n\n3. plot tracking method performances on the training data\n\n```shell\npython plot_contact_tracking_res.py\n```\n\n4. run simulated BOR tasks (there is a visual bug after resetting environment 8 times, so we split up the runs for\n   different seeds)\n\n```shell\npython retrieval_main.py ours --task FB --seed 0 1 2 3 4 5 6 7; python retrieval_main.py ours --task FB --seed 8 9 10 11 12 13 14 15; python retrieval_main.py ours --task FB --seed 16 17 18 19\npython retrieval_main.py ours --task BC --seed 0 1 2 3 4 5 6 7; python retrieval_main.py ours --task BC --seed 8 9 10 11 12 13 14 15; python retrieval_main.py ours --task BC --seed 16 17 18 19\npython retrieval_main.py ours --task IB --seed 0 1 2 3 4 5 6 7; python retrieval_main.py ours --task IB --seed 8 9 10 11 12 13 14 15; python retrieval_main.py ours --task IB --seed 16 17 18 19\npython retrieval_main.py ours --task TC --seed 0 1 2 3 4 5 6 7; python retrieval_main.py ours --task TC --seed 8 9 10 11 12 13 14 15; python retrieval_main.py ours --task TC --seed 16 17 18 19\n```\n\nrepeat with baselines by replacing `ours` with `online-birch` and other baselines\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fum-arm-lab%2Fstucco_experiments","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fum-arm-lab%2Fstucco_experiments","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fum-arm-lab%2Fstucco_experiments/lists"}