{"id":15372477,"url":"https://github.com/wkentaro/reorientbot","last_synced_at":"2025-04-15T11:33:12.466Z","repository":{"id":41194044,"uuid":"460954385","full_name":"wkentaro/reorientbot","owner":"wkentaro","description":"ReorientBot: Learning Object Reorientation for Specific-Posed Placement, ICRA 2022","archived":false,"fork":false,"pushed_at":"2022-03-16T15:25:40.000Z","size":31203,"stargazers_count":53,"open_issues_count":1,"forks_count":4,"subscribers_count":2,"default_branch":"main","last_synced_at":"2025-03-28T21:01:58.648Z","etag":null,"topics":["artificial-intelligence","computer-vision","deep-learning","machine-learning","robotics","ros"],"latest_commit_sha":null,"homepage":"https://reorientbot.wkentaro.com","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/wkentaro.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}},"created_at":"2022-02-18T17:58:24.000Z","updated_at":"2024-12-03T10:04:56.000Z","dependencies_parsed_at":"2022-08-25T17:00:26.357Z","dependency_job_id":null,"html_url":"https://github.com/wkentaro/reorientbot","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wkentaro%2Freorientbot","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wkentaro%2Freorientbot/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wkentaro%2Freorientbot/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wkentaro%2Freorientbot/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/wkentaro","download_url":"https://codeload.github.com/wkentaro/reorientbot/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":249061245,"owners_count":21206476,"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":["artificial-intelligence","computer-vision","deep-learning","machine-learning","robotics","ros"],"created_at":"2024-10-01T13:51:20.124Z","updated_at":"2025-04-15T11:33:10.310Z","avatar_url":"https://github.com/wkentaro.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003ch1 align=\"center\"\u003eReorientBot\u003c/h1\u003e\n\u003ch3 align=\"center\"\u003eLearning Object Reorientation for Specific-Posed Placement\u003c/h3\u003e\n\n\u003cp align=\"center\"\u003e\n  \u003ca href=\"https://wkentaro.com\"\u003eKentaro Wada\u003c/a\u003e,\n  \u003ca href=\"https://stepjam.github.io\"\u003eStephen James\u003c/a\u003e,\n  \u003ca href=\"https://www.doc.ic.ac.uk/~ajd/\"\u003eAndrew J. Davison\u003c/a\u003e\n  \u003cbr/\u003e\n  \u003ca href=\"https://www.imperial.ac.uk/dyson-robotics-lab/\"\u003eDyson Robotics Laboratory\u003c/a\u003e,\n  \u003ca href=\"https://www.imperial.ac.uk/\"\u003eImperial College London\u003c/a\u003e\n  \u003cbr/\u003e\n  IEEE International Conference on Robotics and Automation (ICRA), 2022\n\u003c/p\u003e\n\n\u003cp align=\"center\"\u003e\n  \u003ca href=\"#installation\"\u003e\u003cb\u003eInstallation\u003c/b\u003e\u003c/a\u003e |\n  \u003ca href=\"#usage\"\u003e\u003cb\u003eUsage\u003c/b\u003e\u003c/a\u003e |\n  \u003ca href=\"https://arxiv.org/abs/2202.11092\"\u003e\u003cb\u003ePaper\u003c/b\u003e\u003c/a\u003e |\n  \u003ca href=\"https://youtu.be/ahWN84sWWJU\"\u003e\u003cb\u003eVideo\u003c/b\u003e\u003c/a\u003e |\n  \u003ca href=\"https://reorientbot.wkentaro.com\"\u003e\u003cb\u003eWebpage\u003c/b\u003e\u003c/a\u003e\n\u003c/p\u003e\n\n\u003cdiv align=\"center\"\u003e\n  \u003cimg src=\"docs/assets/img/teaser_horizontal.jpg\" width=\"80%\"\u003e\n\u003c/div\u003e\n\n---\n\n\u003cdiv align=\"center\"\u003e\n  \u003cimg src=\"docs/assets/img/shelf_storing.gif\" width=\"32%\"\u003e\n  \u003cimg src=\"docs/assets/img/box_packing.gif\" width=\"32%\"\u003e\n  \u003cimg src=\"docs/assets/img/multiview.gif\" width=\"32%\"\u003e\n\u003c/div\u003e\n\n## Installation\n\n### Python project only\n\n```bash\nmake install\n\nsource .anaconda3/bin/activate\n./checks/check_motion_planning.py\n```\n\n### ROS project\n\n- `robot-agent`: A computer for visual processing.\n- `robot-node`: A computer with a real-time OS for a Panda robot.\n\n#### @robot-agent\n\n```bash\nmake install\nsource .anaconda3/bin/activate\n\ncd ros/\nmake install\nsource devel/setup.sh\n```\n\n#### @robot-node\n\n```\ncd ros/\nsource /opt/ros/noetic/setup.sh\n\ncatkin build morefusion_panda\nrosrun morefusion_panda create_udev_rules.sh\n\ncatkin build reorientbot_ros\n```\n\n## Usage\n\n### Training \u0026 inference\n\n#### Reorient pose selection\n\n```bash\ncd examples/reorientation/\n\n./download_piles.py\n\n# # train from scratch\n# for seed in $(seq 0 4999); do\n#   ./pickable_create_dataset.py --seed $seed\n# done\n# ./pickable_view_dataset.py\n# ./pickable_train.py --name franka_panda-panda_suction\n\n# NOTE: replace model path to use your own model\n./pickable_eval.py --seed 0\n```\n\n\u003cdiv\u003e\n  \u003cimg src=\"docs/assets/img/pickable_view_dataset.jpg\" width=\"30.8%\"/\u003e\n  \u003cimg src=\"docs/assets/img/pickable_eval.gif\" width=\"30%\"/\u003e\n  \u003cp\u003e\u003ci\u003eFigure 1. Reorient pose selection's dataset (left) and inference (right)\u003c/i\u003e\u003c/p\u003e\n\u003c/div\u003e\n\n#### Reorient motion selection\n\n```bash\n# # train from scratch\n# for seed in $(seq 0 4999); do\n#   ./reorientable_create_dataset.py --seed $seed\n# done\n# ./reorientable_view_dataset.py\n# ./reorientable_train.py --name franka_panda-panda_suction\n\n# NOTE: replace model path to use your own model\n./reorient_dynamic.py --seed 0 --face front\n```\n\n\u003cdiv\u003e\n  \u003cimg src=\"docs/assets/img/reorientable_view_dataset.jpg\" width=\"30.7%\"/\u003e\n  \u003cimg src=\"docs/assets/img/reorient_dynamic.gif\" width=\"30%\"/\u003e\n  \u003cp\u003e\u003ci\u003eFigure 2. Reorient motion selection's dataset (left) and inference (right)\u003c/i\u003e\u003c/p\u003e\n\u003c/div\u003e\n\n### Real-world demonstration\n\n```bash\nrobot-node  $ roslaunch reorientbot_ros panda_control.launch\n\nrobot-agent $ roslaunch reorientbot_ros setup.launch\nrobot-agent $ rosrun reorientbot_ros reorientbot_task_interface.py\n\u003e\u003e\u003e # self.run_singleview()\n\u003e\u003e\u003e self.run_multiview()\n```\n\n\u003cdiv\u003e\n  \u003cimg src=\"docs/assets/img/multiview_01.gif\" width=\"32%\"/\u003e\n  \u003cimg src=\"docs/assets/img/multiview_02.gif\" width=\"32%\"/\u003e\n  \u003cimg src=\"docs/assets/img/multiview_03.gif\" width=\"32%\"/\u003e\n  \u003cp\u003e\u003ci\u003eFigure 3. Robotic rearrangement while picking, reorienting and placing objects.\u003c/i\u003e\u003c/p\u003e\n\u003c/div\u003e\n\n## Citation\n\n```\n@inproceedings{Wada:etal:ICRA2022b,\n  title={{ReorientBot}: Learning Object Reorientation for Specific-Posed Placement},\n  author={Kentaro Wada and Stephen James and Andrew J. Davison},\n  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},\n  year={2022},\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwkentaro%2Freorientbot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fwkentaro%2Freorientbot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwkentaro%2Freorientbot/lists"}