Object Instance Retrieval in Assistive Robotics: Leveraging Fine-Tuned SimSiam with Multi-View Images Based on 3D Semantic Map

This is a tranining code of SimView paper.

Dataset Preparation

Download MIRO dataset

bash miro_downloader.sh
python3 redefine_miro.py

If you want to download ObjectPI dataset.
Download it here and place it in your dataset folder.

Training

Fine-tune partial parameters with classifier.

python3 partial_fine_tuning.py

Fine-tune partial parameters without classifier.

python3 unsupervised_partial_fine_tuning.py

Fine-tune all parameters with classifier.

python3 full_fine_tuning.py

Fine-tune all parameters without classifier.

python3 unsupervised_full_fine_tuning.py

Evaluation

Evaluate the model updated partial parameters with classifier.

python3 partial_fine_tuning_eval.py

Evaluate the model updated partial parameters without classifier.

python3 unsupervised_partial_fine_tuning_eval.py

Evaluate the model updated all parameters with classifier.

python3 full_fine_tuning_eval.py

Evaluate the model updated partial parameters without classifier.

python3 unsupervised_full_fine_tuning_eval.py