nulledge / dpi-net

[ICLR 2019] Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids

Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids

Yunzhu Li, Jiajun Wu, Russ Tedrake, Joshua B. Tenenbaum, Antonio Torralba

ICLR 2019 [website] [paper] [video]

Demo

Simulation

Rollout from our learned model

Installation

This codebase is tested with Ubuntu 16.04 LTS, Python 3.6.8, PyTorch 1.0.0, and CUDA 9.1. Other versions might work but are not guaranteed.

Clone this repo:

https://github.com/YunzhuLi/DPI-Net.git
cd DPI-Net

Install PyFleX

Add and compile PyFleX submodule

git submodule update --init --recursive
export PYFLEXROOT=${PWD}/PyFleX
export PYTHONPATH=${PYFLEXROOT}/bindings/build:$PYTHONPATH
export LD_LIBRARY_PATH=${PYFLEXROOT}/external/SDL2-2.0.4/lib/x64:$LD_LIBRARY_PATH
cd PyFleX/bindings; mkdir build; cd build; cmake ..; make -j

Test PyFleX examples

cd ${PYFLEXROOT}/bindings/examples
python test_FluidFall.py

Install Dependencies

For Conda users, we provide an installation script:

bash ./scripts/conda_deps.sh

Evaluation

Go to the root folder of DPI-Net. You can direct run the following command to use the pretrained checkpoint.

bash scripts/eval_FluidFall.sh
bash scripts/eval_BoxBath.sh
bash scripts/eval_FluidShake.sh
bash scripts/eval_RiceGrip.sh

It will first show the grount truth followed by the model rollout. The resulting rollouts will be stored in dump_[env]/eval_[env]/rollout_*, where the ground truth is stored in gt_*.tga and the rollout from the model is pred_*.tga.

Training

You can use the following command to train from scratch. Note that if you are running the script for the first time, it will start by generating training and validation data in parallel using num_workers threads. You will need to change --gen_data to 0 if the data has already been generated.

bash scripts/train_FluidFall.sh
bash scripts/train_BoxBath.sh
bash scripts/train_FluidShake.sh
bash scripts/train_RiceGrip.sh

Citing DPI-Net

If you find this codebase useful in your research, please consider citing:

@inproceedings{li2019learning,
    Title={Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids},
    Author={Li, Yunzhu and Wu, Jiajun and Tedrake, Russ and Tenenbaum, Joshua B and Torralba, Antonio},
    Booktitle = {ICLR},
    Year = {2019}
}