Multi-Feature Implicit Model (MIMO)

Setup

Clone this repo

git clone https://github.com/6cyc6/MIMO.git
cd MIMO

Create a new virtual environment (e.g. anaconda environment)

conda create -n mimo python=3.8
conda activate mimo

Install dependencies

pip install numpy cython  # required for building the project
conda install pytorch==2.1.1 torchvision==0.16.1 torchaudio==2.1.1 pytorch-cuda=11.8 -c pytorch -c nvidia
pip install -e .

(If you meet problem while installing PyMCubes, try pip install PyMCubes==0.1.4.)

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Training Data Generation

@todo

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Run Evaluation

See here.

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Citing

@article{cai2024mimo,
  title={Visual Imitation Learning of Task-Oriented Object Grasping and Rearrangement},
  author={Cai, Yichen and Gao, Jianfeng and Pohl, Christoph and Asfour, Tamim},
  journal={arXiv preprint arXiv:2403.14000},
  year={2024}
}

Acknowledgements

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This code was built upon Occupancy Networks, Neural Descriptor Field (NDF), Neural Interaction Field and Template and Relational NDF. Please also check their repos for more details.