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Intelligent Vision and Automation Laboratory (IVALab) (@ivalab)

ivalab

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grasp_multiObject_multiGrasp

An implementation of our RA-L work 'Real-world Multi-object, Multi-grasp Detection'

grasp_multiObject

Robotic grasp dataset for multi-object multi-grasp evaluation with RGB-D data. This dataset is annotated using the same protocal as Cornell Dataset, and can be used as multi-object extension of Cornell Dataset.

GraspKpNet

simData

The dataset of our RA-L work 'Learning Affordance Segmentation for Real-world Robotic Manipulation via Synthetic Images'

KGN

[ICRA 2023 & IROS 2023] Code release for Keypoint-GraspNet (KGN) and Keypoint-GraspNet-V2 (KGNv2)

FullResults_GoodFeature

Figures of full evaluation results for TRO submission "Good Feature Matching: Towards Accurate, Robust VO/VSLAM with Low Latency"

grasp_annotation_tool

a simple Matlab gui for annotating rotated grasping bounding box

AffKpNet

The implementation and supplementary material for our RA-L work "An Affordance Keypoint Detection Network for Robot Manipulation".

grasp_primitiveShape

the implementation code of the paper "Using Synthetic Data and Deep Networks to Recognize Primitive Shapes for Object Grasping"

meta_ClosedLoopBench

Meta Package for Closed-Loop SLAM Benchmarking in Gazebo/ROS

NavBench

Benchmark Worlds for Testing Autonomous Navigation Algorithms

simData_imgSaver

This repo contains tools to save images of simulated objects in Gazebo for affordance segmentation

Benchmarking_SLAM

Review & summary of SLAM benchmarks

ORB_Data

A collection of settings file (*.yaml) used for GF-ORB-SLAM evaluation

ROS_image_puslisher_from_socket

get socket of RGBD image (from windows) and publish to ROS topic (on linux)

WDiscOOD

[ICCV2023] Official Implementation of ICCV 2023 paper, WDiscOOD: Out-of-Distribution Detection via Whitened Linear Discriminant Analysis

FullResults_GoodGraph

Figures of full evaluation results for TRO submission "Good Graph to Optimize: Budget-Aware, Cost-Effective Bundle Adjustment in Visual SLAM"

aruco_tag_saver_ros

ros node version of aruco tag saver (by Anina Mu)

affordanceNet_Novel

An implementation of our RA-L work 'Toward Affordance Detection and Ranking on Novel Objects for Real-world Robotic Manipulation'

affordanceNet_DA

An implementation of our RA-L work 'Learning Affordance Segmentation for Real-world Robotic Manipulation via Synthetic Images'

Jupyter Notebook

aruco_tag_saver

save ground truth with aruco tag (kinect, meta ports)

me_sgl

Manipulation Experiment for Symbolic Goal Learning in a hybrid, modular framework for Human Instruction Following

affordanceNet_Context

MultiAffordanceNet

Implementation of "Toward Affordance Detection and Ranking on Novel Objects for Real-world Robotic Manipulation" submission

SGL_SGP_data_generator

Data generator based on AI2THOR for symbolic goal learning and scene graph parsing

dbrt_for_handy

This is the package for running Probabilistic Articulated Real-time Tracking on the IVALab Handy robotic manipulator.

gazebo_turtlebot_simulator

Closed-Loop SLAM Benchmarking Simulator based on Gazebo/ROS

Scene_Graph_Parsing

Pretraining scene graph parsing tasks for symbolic goal learning of robotic manipulation