STUCCO Experiments

This is the official experiments code for the paper Soft Tracking Using Contacts for Cluttered Objects (STUCCO) to Perform Blind Object Retrieval. If you use it, please cite

@article{zhong2022soft,
  title={Soft tracking using contacts for cluttered objects to perform blind object retrieval},
  author={Zhong, Sheng and Fazeli, Nima and Berenson, Dmitry},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={2},
  pages={3507--3514},
  year={2022},
  publisher={IEEE}
}

Installation (experiments)

1. install base experiments by following its readme
2. clone repository locally and cd into it
3. pip install -e .

Usage

This is the full experiments to reproduce the results from the paper. See the light-weight library repository for how to use STUCCO in your projects. See the website for videos and a high level introduction.

Reproduce Paper

All scripts are under the scripts directory. Run everything while in this directory.

1. collect training data

python collect_tracking_training_data.py --task SELECT1 --gui
python collect_tracking_training_data.py --task SELECT2 --gui
python collect_tracking_training_data.py --task SELECT3 --gui
python collect_tracking_training_data.py --task SELECT4 --gui

2. evaluate all tracking methods on this data; you can find the clustering result and ground truth for each trial in ~/experiments/data/cluster_res

python evaluate_contact_tracking.py

3. plot tracking method performances on the training data

python plot_contact_tracking_res.py

4. run simulated BOR tasks (there is a visual bug after resetting environment 8 times, so we split up the runs for different seeds)

python 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
python 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
python 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
python 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

repeat with baselines by replacing ours with online-birch and other baselines