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Robot_Semantics

This is the official implementation of attn-seq2seq-cat decribed in our paper:

"Understanding Contexts Inside Joint Robot and Human Manipulation Tasks through Vision-Language Model with Ontology Constraints in a Video Streamline"

Update (2021-1-15): Create a wiki page to keep track of updated model scores after fixes. Please refer to the scores there to compare against our models in the paper.

Update (2021-1-6): A proper pre-trained model is updated.

Update (2021-1-3): Major codebase updates. This repo should work smoothly now.

Update (2020-12-19): We have uploaded and updated annotations for a complete release of our RS-RGBD dataset! Access the wiki page to check out more. Updated evaluation scores and pre-trained models will be updated in future.

Requirements

  • PyTorch (tested on 1.4)
  • TorchVision with PIL
  • numpy
  • OpenCV (tested with 4.1.0)
  • Jupyter Notebook
  • coco-caption, a modified version is used to support Python3
  • Owlready2
  • Graphviz

Experiments

To repeat the experiments on our Robot Semantics Dataset:

  1. Clone the repository.

  2. Download the Robot Semantics Dataset, check our wiki page for more details. Please extract the dataset and setup the directory path as`:

├── root_dir
|   ├── data
|   |   ├── RS-RGBD
|   |   |   ├── human_grasp_pour
|   |   |   ├── human_point_and_intend
|   |   |   ├── wam_grasp_pour
|   |   |   ├── wam_point_and_intend
|   |   |   ├── eval_human_grasp_pour
|   |   |   ├── eval_wam_grasp_pour
|   |   |   ├── eval_wam_grasp_pour_complex

  1. To extract features from pre-trained CNNs, under the folder experiment_RS-RGBD/offline_feat, run extract_features.py to sample offline dataset videos into clips for training and evaluation.

  2. Select a branch to repreat the experiment (Please check our paper for detailed experiment settings). Under the folder experiment_RS-RGBD/offline_feat, run generate_clips.py to sample offline dataset videos into clips for training and evaluation.

  3. To begin training, run train.py. Modify rs/config.py accordingly to adjust the hyperparameters.

  4. For evaluation, firstly run evaluate.py to generate predictions given all saved checkpoints. Run cocoeval.py to calculate scores for the predictions. Best scoring model will be moved to root_dir/results_RS-RGBD/.

To repeat the experiments on IIT-V2C Dataset, follow up the instructions in my other repository.

Demo

We offer pretrained models with our attention vision-language model, refer to the benchmark page and download the one you want. Put the downloaded model inside path: robot_semantics/checkpoints/:

├── root_dir
|   ├── checkpoint
|   |   ├── vocab.pkl
|   |   ├── saved
|   |   |   ├── v2l_trained.pth

A jupyter notebook to visualize attentions and the knowledge graph given outputs from the Vision-Language model. File is under robot_semantics/experiments/demo.

Some demos for visual attentions from our vision-language model:

Additional Note

Please leave me an issue if you find any potential bugs inside the code.

If you find this repository useful, please give me a star and consider citing:

@article{jiang2020understanding,
  title={Understanding Contexts Inside Robot and Human Manipulation Tasks through a Vision-Language Model and Ontology System in a Video Stream},
  author={Jiang, Chen and Dehghan, Masood and Jagersand, Martin},
  journal={arXiv preprint arXiv:2003.01163},
  year={2020}
}