minor changes

Author: rlnav

README.md

@@ -2,6 +2,7 @@
 Self-supervised learning of physics-aware grey-box model for predicting robot-terrain interaction.
 
 [![Arxiv](http://img.shields.io/badge/paper-arxiv.2303.01123-critical.svg?style=plastic)](https://arxiv.org/abs/2309.09007)
+[![Slides](http://img.shields.io/badge/presentation-slides-blue.svg?style=plastic)](https://docs.google.com/presentation/d/1pJFHBYVeOULi-w19_mLEbDTqvvk6klcVrrYc796-2Hw/edit?usp=sharing)
 
 <img src="docs/imgs/overview_from_img.png" height="280"/> <img src="docs/imgs/overview.png" height="300"/>
 

launch/lss_demo.launch

@@ -4,18 +4,18 @@
     <arg name="diffphys" default="false" doc="Whether to run the diff physics node or not"/>
     <arg name="slam" default="false" doc="Whether to run the SLAM node or not"/>
     <arg name="lss_debug" default="false"/>
-    <arg name="weights" default="$(dirname)/../config/weights/lss/train_lss.pt"/>
+    <arg name="weights" default="$(dirname)/../config/weights/lss/lss.pt"/>
 
-    <arg name="bag" default="$(dirname)/../data/robingas/data/22-09-27-unhost/husky/husky_2022-09-27-15-01-44.bag"/>
-<!--     <arg name="bag" default="$(dirname)/../data/robingas/data/22-10-27-unhost-final-demo/husky_2022-10-27-15-33-57.bag"/> -->
+<!--     <arg name="bag" default="$(dirname)/../data/robingas/data/22-09-27-unhost/husky/husky_2022-09-27-15-01-44.bag"/> -->
+    <arg name="bag" default="$(dirname)/../data/robingas/data/22-10-27-unhost-final-demo/husky_2022-10-27-15-33-57.bag"/>
     <arg name="img_topics" default="['/camera_front/image_color/compressed',
                                      '/camera_left/image_color/compressed',
-                                     '/camera_right/image_color/compressed',
-                                     '/camera_rear/image_color/compressed']"/>
+                                     '/camera_rear/image_color/compressed',
+                                     '/camera_right/image_color/compressed']"/>
     <arg name="camera_info_topics" default="['/camera_front/camera_info',
                                              '/camera_left/camera_info',
-                                             '/camera_right/camera_info',
-                                             '/camera_rear/camera_info']"/>
+                                             '/camera_rear/camera_info',
+                                             '/camera_right/camera_info']"/>
     <arg name="calib_path" default="$(dirname)/../data/robingas/data/22-09-27-unhost/husky/husky_2022-09-27-15-01-44_trav/calibration/"/>
 
 <!--     <arg name="bag" default="$(dirname)/../data/robingas/data/22-08-12-cimicky_haj/marv/ugv_2022-08-12-15-18-34.bag"/> -->

scripts/train_lss

@@ -14,7 +14,7 @@ from monoforce.datasets.data import TravData, explore_data
 from monoforce.config import Config
 from monoforce.utils import read_yaml, write_to_yaml, normalize
 from monoforce.datasets import seq_paths, sim_seq_paths
-from monoforce.losses import RMSE
+from monoforce.losses import RMSE, total_variation
 from tqdm import tqdm
 from torch.utils.tensorboard import SummaryWriter
 from datetime import datetime
@@ -222,7 +222,11 @@ class Trainer:
                 loss_geom = self.lidar_hm_loss(height_pred_geom, height_lidar, weights_lidar)
                 loss_rigid = self.traj_hm_loss(height_pred_rigid, height_traj, weights_traj)
 
-                loss = loss_geom + 100.*loss_rigid
+                # add height difference loss
+                # loss_hdiff = height_pred_diff.abs().mean()
+                loss_hdiff = total_variation(height_pred_diff)
+
+                loss = loss_geom + 100.*loss_rigid + 0.1*loss_hdiff
                 if self.map_consistency and len(height_pred_rigid) > 1:
                     loss_map = self.map_consistency_loss(height_pred_rigid, map_pose)
                     loss += 0.1*loss_map
@@ -239,6 +243,7 @@ class Trainer:
                 counter += 1
                 self.writer.add_scalar(f"{'train' if train else 'val'}/iter_loss_geom", loss_geom, counter)
                 self.writer.add_scalar(f"{'train' if train else 'val'}/iter_loss_rigid", loss_rigid, counter)
+                self.writer.add_scalar(f"{'train' if train else 'val'}/iter_loss_hdiff", loss_hdiff, counter)
                 self.writer.add_scalar(f"{'train' if train else 'val'}/iter_loss_map", loss_map, counter)
                 self.writer.add_scalar(f"{'train' if train else 'val'}/iter_loss", loss, counter)