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anthonysimeonov / ndf_robot

Implementation of the method proposed in the paper "Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation"
MIT License
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Reconstruction performance of the pretrained weights. #6

Closed zzilch closed 2 years ago

zzilch commented 2 years ago

I estimated the occupancy of the object point cloud in the demo data, and got very small values like this. image image

I also estimated with full object points or with dense grid coordinates (instead of 1500 n_pts used above). The results were weird too. I just forwarded the model with centered object points. Did I miss any steps? I am using the multi_category_weights.pth now, and I am curious about the reconstruction performance of the pretrained nets.

zzilch commented 2 years ago

Sorry, fix the problem. I didn't use model.eval().