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FileNotFoundError: [Errno 2] No such file or directory: 'gcngrasp/../data/taskgrasp/misc.pkl'

Hello! Thank you for your awesome work! I noticed that you train your network on a RTX 3090 GPU. I want to know that how long does it take to train your network from scratch?

Hi, team
Thanks for sharing the wonderful project!
I followed the README and successfully configured the env. However, when I was running the Database version Demo (Objetc class: pan, task: pour) by: python gcngrasp/demo_db.py --cfg_file cfg/eval/gcngrasp/gcngrasp_split_mode_o_split_idx_0.yml --obj_name pan --obj_class saucepan --task pour_, I met this BUG:
ValueError: setting an array element with a sequence. The requested array has an inhomogeneous shape after 1 dimensions. The detected shape was (32,) + inhomogeneous part.
################################################
Here is the content shown in my terminal when I was running the demo:

-task pour
algorithm_class: GCNGrasp
base_dir: gcngrasp/../data
batch_size: 16
dataset_class: GCNTaskGrasp
distrib_backend: dp
embedding_mode: 2
embedding_model: numberbatch
embedding_size: 300
epochs: 50
folder_dir: taskgrasp
gcn_conv_type: GCNConv
gcn_num_layers: 6
gcn_skip_mode: 0
gpus: [0]
graph_data_path: kb2_task_wn_noi
include_reverse_relations: True
instance_agnostic_mode: 1
log_dir: checkpoints/
model:
use_normal: False
use_xyz: True
name: gcngrasp_split_mode_o_split_idx_0_
num_points: 4096
optimizer:
bn_momentum: 0.5
bnm_clip: 0.01
bnm_decay: 0.5
decay_step: 20000.0
lr: 0.0001
lr_clip: 1e-05
lr_decay: 0.7
weight_decay: 0.0001
patience: 50
pc_scaling: True
pretrained_weight_file:
pretraining_mode: 0
sampling_radius: 2
split_idx: 0
split_mode: o
split_version: 1
subgraph_sampling: True
use_class_list: True
use_task1_grasps: True
weight_file: checkpoints/gcngrasp_split_mode_o_split_idx_0__2023-08-15-18-59/weights/ckpt_epoch_42.ckpt
weighted_sampling: True
########################
Namespace(cfg_file='cfg/eval/gcngrasp/gcngrasp_split_mode_o_split_idx_0.yml', data_dir='gcngrasp/../data/sample_data', obj_class='saucepan', obj_name='pan', task='pour')
Unable to find clean pc and grasps
Traceback (most recent call last):
File "gcngrasp/demo_db.py", line 273, in
main(args, cfg)
File "gcngrasp/demo_db.py", line 126, in main
pc, grasps = load_pc_and_grasps(os.path.join(data_dir, 'pcs'), obj_name)
File "gcngrasp/demo_db.py", line 97, in load_pc_and_grasps
grasps = farthest_grasps(
File "/home/zhengshen/GraspGPT_public/gcngrasp/data/../../geometry_utils.py", line 230, in farthest_grasps
grasps_fps = cluster_grasps(grasps, num_clusters=num_clusters)
File "/home/zhengshen/GraspGPT_public/gcngrasp/data/../../geometry_utils.py", line 107, in cluster_grasps
output_grasps = np.asarray(output_grasps)
ValueError: setting an array element with a sequence. The requested array has an inhomogeneous shape after 1 dimensions. The detected shape was (32,) + inhomogeneous part.
################################################
When I tried the other two examples (Objetc class: spatula, task: scoop, Objetc class: mug, task: drink), I also met the same BUG.
Could you please help me to solve this BUG?

Best regards,
Zhengshen

Hi,
thanks for the great work, I got the following error during evaluation 'No such object description dir: gcngrasp/../data/taskgrasp/obj_gpt_v2/scrub_brush/descriptions/5', where should I download this obj_gpt_v2 folder?

I have tried the lite version of GraspGPT, and the performance is relatively low. Therefore, I wonder when will you open source the full version of GraspGPT (i.e. the attention-based implementation of the Task-Oriented Grasp Evaluator). Thank you !

I re-implement the Task-Oriented Grasp Evaluator (TGE) module proposed in your paper, following the architecture depicted in your letter. Howerer, the performance is even worse. I am sure that I follow all the details (e.g. the dimension, the multi-head attention). I wonder if there are any more information about the TGE module, and what should I do to achieve the results you provided in the paper.

By the way, the links for downloading the LA-TaskGrasp and the checkpoints are invalid.

Hi team, thank you so much for your work.

I got a problem as the tittle shows. A lot of search work has been done, I eventially found it is an old problem of PointNet2. (see https://github.com/erikwijmans/Pointnet2_PyTorch/issues?q=furthest_point_sampling_kernel_wrapper)

I believe the problem is caused by the version of python, pytorch and CUDA.

I followed your instruction and tried:
1. Python 3.7.1 + torcu 1.11.0 + CUDA 11.3
2. Python 3.7.9 + torch 1.11.0 + CUDA 11.3
3. Python 3.7.9 + torch 1.11.0 + CUDA 10.0
but there is no lucky.

My GPU is 4090.

Please can I ask what specific version of python you used? And if you can advise me of any hint for the problem, it would be much appreciated.

Hi, thank you for open-sourcing the GraspGPT code for re-implementation. I noticed that you recently released a more advanced method, FoundationGrasp. It would be grateful if you could release its code as well.