Motion Before Action: Diffusing Object Motion as Manipulation Condition

[Paper] [Project Page] [Sample Data] [Simulation Tasks Report]

Authors: Yue Su*,Xinyu Zhan* Hongjie Fang, Yong-Lu Li, Cewu Lu, Lixin Yang ✉

🛫 Getting Started

💻 Installation

We use RISE as our real robot baseline, Please following the installation guide to install the rise conda environments and the dependencies, as well as the real robot environments. Also, remember to adjust the constant parameters in dataset/constants.py and utils/constants.py according to your own environment.

📷 Calibration

Please calibrate the camera(s) with the robot before data collection and evaluation to ensure correct spatial transformations between camera(s) and the robot. Please refer to calibration guide for more details.

🛢️ Data Collection

Data will be released soon.

🧑🏻‍💻 Training

The training scripts are saved in script.

conda activate rise
bash script/command_train__place__mba.sh # Add MBA module
bash script/command_train__place.sh # For baseline

🤖 Evaluation

Please follow the deployment guide to modify the evaluation script.

Modify the arguments in command_eval.sh, then

conda activate rise
bash command_eval.sh

✍️ Citation

@misc{su2024motionactiondiffusingobject,
        title={Motion Before Action: Diffusing Object Motion as Manipulation Condition}, 
        author={Yue Su and Xinyu Zhan and Hongjie Fang and Yong-Lu Li and Cewu Lu and Lixin Yang},
        year={2024},
        archivePrefix={arXiv} 
  }

📃 License

MBA is licensed under CC BY-NC-SA 4.0