This is a modification of GG-CNN

Note: This repository is based on the original implementation. The original implementation is here.

Modifications

• Add GraspNet 1Billion dataset. The dataset can be downloaded here.
• Add deeper GGCNN network.

Usage

1. You should download the GraspNet 1Billion Dataset first. (abbre. gn1b)

2. Install graspnetAPI following here.

   pip install graspnetAPI

3. Change the graspnet_root in script convert_gn1b_2_cornell.py, then run it to convert the dataset format into Cornell Dataset format.

4. Run the training script train_ggcnn.py to train the model using gn1b Dataset.

   Example

   python train_ggcnn.py --network ggcnn2 --dataset graspnet1b --dataset-path path-to-gn1b --camera realsense --epochs 20 --batch-size 16 --num-workers 20 --description ggcnn2_gn1b

Reference

GG-CNN

GraspNet Dateset