Neural-Field-Movement-Primitives

This repository contains offical implementation of "Neural Field Movement Primitives for Joint Modelling of Scenes and Motions."

Setting up the environment

First setup pytorch. Then use the following command to install other packages.

pip install -r requirements.txt

Data and Pretrained Models

Data Link: https://drive.google.com/file/d/1ue6lBsQs_WLiE_rLx6MZ_smOHZqGyY7B/view?usp=sharing

Model Link: https://drive.google.com/file/d/167-3jwc-WuiIooFoKKm1mPfyeforIT1e/view?usp=sharing

Future Todo List

• Update Real_exp_2.ipynb: Move dataset generation, model, and visualization code to python files.

Contact Information:

• Ahmet Tekden, [email protected]

Publications:

IROS 2023 Paper: https://ieeexplore.ieee.org/document/10342170

arXiv preprint:https://arxiv.org/abs/2308.05040

Project Page: https://fzaero.github.io/NFMP/

Bibtex:

@inproceedings{tekden2023neural,
  title={Neural field movement primitives for joint modelling of scenes and motions},
  author={Tekden, Ahmet and Deisenroth, Marc Peter and Bekiroglu, Yasemin},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={3648--3655},
  year={2023},
  organization={IEEE}
}