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ros2ai

AI Model for ROS 2.

Env Setup

Requestments

  • ROS 2
  • CUDA & cuDNN
  • torch
  • transformers
  • accelerate

Easy setup

sudo apt install git curl
git clone https://github.com/autowarefoundation/autoware.git -b main --single-branch
cd autoware
./setup-dev-env.sh
python3 -m pip install -U torch torchvision torchaudio git+https://github.com/huggingface/transformers accelerate

How To Use

Image-To-Text

blip_image_captioning_base
ros2 run ros2ai blip_image_captioning_base
blip_image_captioning_large
ros2 run ros2ai blip_image_captioning_large
pix2struct_textcaps_base
ros2 run ros2ai pix2struct_textcaps_base
vit_gpt2_image_captioning
ros2 run ros2ai vit_gpt2_image_captioning

Vision QA

vilt_b32_finetuned_vqa
ros2 run ros2ai vilt_b32_finetuned_vqa

Image-classification

resnet_50
ros2 run ros2ai resnet_50

zero-shot object detection

owlvit_base_patch16
ros2 run ros2ai owlvit_base_patch16
owlvit_base_patch32
ros2 run ros2ai owlvit_base_patch32

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