Next-Best-View Estimation based on Deep Reinforcement Learning for Active Object Classification

Related tags

Deep Learning nbv_rl
Overview

next_best_view_rl

Setup

  1. Clone the repository: git clone --recurse-submodules ...
  2. In 'third_party/zed-ros-wrapper': git checkout devel
  3. Install mujoco
  4. `sudo apt-get update && sudo apt-get install cmake libopenmpi-dev python3-dev zlib1g-dev libosmesa6-dev libgl1-mesa-glx libglfw3'
  5. Create virtual environment: conda create --name nbv_env python=3.7
  6. Activate virual environment: 'conda activate nbv_env'
  7. Install requirements: pip install -r requirements.txt
  8. Install setup.py: pip install -e .

Execution

  • modify configs in config with hydra framework
  • start RL training: python3 scripts/train.py
  • evaluate RL model: python3 scripts/evaluate.py
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