SCARP: 3D Shape Completion in ARbitrary Poses for Improved Grasping

Bipasha Sen^*1, Aditya Agarwal^*1, Gaurav Singh^1*, Brojeshwar Bhowmick², Srinath Sridhar³, Madhava Krishna¹
¹International Institute of Information Technology, Hyderabad, ²TCS Research India, ³Brown University

^*denotes equal contribution

This is the official implementation of the paper "SCARP: 3D Shape Completion in ARbitrary Poses for Improved Grasping" accepted at ICRA 2023.

This work was featured as "The Publication of the Week" by Weekly Robotics [here](https://www.weeklyrobotics.com/weekly-robotics-231)

For more results, information, and details visit our project page and read our paper.

Creating the Anaconda/Miniconda environment

Make sure you have Anaconda or Miniconda installed before you proceed to load this environment.

conda env create -f environment.yml
conda activate SCARP

Pretrained Checkpoints

Pretrained checkpoints for the demo can be downloaded from here

Move the checkpoints to the directory checkpoints/.

The directory structure should be:

└── checkpoints
    ├── plane.pt
    .
    .
    .

    └── car.pt

Demo

To run a demo run the following command

CUDA_VISIBLE_DEVICES=0 python3 demo.py  \
--class_choice plane \
--ckpt_load checkpoints/plane.pt

The outputs are stored in the demo_data/<class_choice> directory

Real World Results

Acknowledgement

Some parts of the code are insipired and borrowed from ConDor,Sinv and Pointnet++. We thank the authors for providing the source code.

Citation

If you find our work useful in your research, please cite:

@INPROCEEDINGS{10160365,
  author={Sen, Bipasha and Agarwal, Aditya and Singh, Gaurav and B., Brojeshwar and Sridhar, Srinath and Krishna, Madhava},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={SCARP: 3D Shape Completion in ARbitrary Poses for Improved Grasping}, 
  year={2023},
  volume={},
  number={},
  pages={3838-3845},
  doi={10.1109/ICRA48891.2023.10160365}
}

Contact

If you have any questions, please feel free to email the authors.

Bipasha Sen: bipasha.sen@research.iiit.ac.in
Aditya Agarwal: aditya.ag@research.iiit.ac.in
Gaurav Singh: gaurav.si@research.iiit.ac.in

vanhalen42 / SCARP

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