Paper | PDF in PMLR
Z. Erickson, S. Chernova, and C. C. Kemp, “Semi-Supervised Haptic Material Recognition for Robots using Generative Adversarial Networks”, 1st Annual Conference on Robot Learning (CoRL 2017), 2017.
Quick Setup
Want to download code and data in one go?
The lines below will download the code repository and a compact dataset (for tables 1, 2, 3, 4, and 6).
# Install prerequisites pip install -U keras theano plotly mkdir ~/git cd ~/git git clone https://github.com/Healthcare-Robotics/mr-gan.git # Download compact dataset (1 GB) for computing tables 1, 2, 3, 4, and 6 cd mr-gan/data_processed wget -O data_processed_compact.tar.gz https://goo.gl/WiqSjJ tar -xvzf data_processed_compact.tar.gz rm data_processed_compact.tar.gz cd ../ # Compute results for Table 1. This will take several hours with a GPU. python mr_gan.py --tables 1 # Regenerate plots python paperplotly.py
Code
https://github.com/Healthcare-Robotics/mr-gan
MREO Dataset
Processed Data
Compact dataset (1 GB) for computing tables 1, 2, 3, 4, and 6 from the paper: https://goo.gl/WiqSjJ
cd ~/git/mr-gan/data_processed wget -O data_processed_compact.tar.gz https://goo.gl/WiqSjJ tar -xvzf data_processed_compact.tar.gz rm data_processed_compact.tar.gz
Entire dataset (20 GB) for computing table 5: https://goo.gl/FnXfgM
cd ~/git/mr-gan/data_processed wget -O data_processed_full.tar.gz https://goo.gl/FnXfgM tar -xvzf data_processed_full.tar.gz rm data_processed_full.tar.gz
Raw Data
Download the raw data (10 GB) collected on the PR2 if you would like to perform your own preprocessing: https://goo.gl/DNqPib
cd ~/git/mr-gan/data_raw wget -O data_raw.tar.gz https://goo.gl/DNqPib tar -xvzf data_raw.tar.gz rm data_raw.tar.gz
Data Format
Data files are stored as dictionaries in Python pickle files. Keys represent different sensor modalities.
Processed data keys:
'forceTime': time stamps for force measurements 'force0': first force sensor measurements 'force1': second force sensor measurements 'temperatureTime': temperature time stamps 'temperature': temperature measurements 'contactTime': contact microphone time stamps 'contact': contact microphone measurements
Raw data keys:
'RGripRFingerTime': force time stamps 'RGripRFingerForce': both force sensor measurements 'temperatureTime': temperature time stamps 'temperature': temperature measurements 'contactmicTime': contact microphone time stamps 'contactmic': contact microphone measurements 'collisionTime': time stamp marking when collision occurred with the object
Object List
| Metal | Plastic | Wood |
|---|---|---|
| pot bowl plate soup can steel pan plant pot leaf dish frying pan drinking mug aluminum foil aluminum pan tooth brush holder |
bag bowl folder solo cup rubbermaid pill bottle rain poncho rubik’s cube vaseline bottle coffee container full water bottle empty water bottle |
bowl block large box plant pot rolling pin cutting board soap dispenser round container large bamboo bowl tooth brush holder large bamboo plate large hardwood bowl |
| Glass | Ceramic | Fabric |
| bowl plate candle pot lid large jar foggy jar baking pan beer glass black lid jar latched lid jar soap dispenser decorative plate |
tile mug teapot plant pot baking pan large bowl cereal bowl white plate blue loaf pan paint spotted plate white rectangle plate black rectangle plate |
jeans gauze red towel satin robe wool socks pillow case acrylic hat khaki shorts hospital gown grey rayon shirt blue polyester shirt black cotton sweater |
Sensor Construction
TODO