Merge pull request #25 from martius-lab/final_submission

Final version of readme

README.md

@@ -6,13 +6,13 @@
 
 <h4 align="center">
 Code for the paper: <a href="https://arxiv.org/abs/2404.11735" target="_blank">"Learning with 3D rotations, a hitchhiker’s guide to SO(3)"</a></h4>
+<h6 align="center">A. René Geist, Jonas Frey, Mikel Zhobro, Anna Levina, and Georg Martius</h6>
 
 <p align="center">
   <a href="#overview">Overview</a> •
   <a href="#installation">Installation</a> •
   <a href="#experiments">Experiments</a> •
-  <a href="#development">Development</a> •
-  <a href="#credits">Credits</a>
+  <a href="#development">Development</a>
 </p>
 
 
@@ -53,6 +53,12 @@ pip3 install torch torchvision torchaudio
 ```
 
 # Experiments
+
+<p float="center">
+  <img src="/assets/docs/gso_vs_svd1.gif" width="400" />
+  <img src="/assets/docs/gso_vs_svd3.gif" width="400" />
+</p>
+
 All experiments are implemented in PyTorch. 
 Most experiments simply use [train.py](scripts/train.py).
 Depending on which command line arguments are passed (see below), 
@@ -72,7 +78,7 @@ learning results that have been stored using [logger.py](hitchhiking_rotations/u
 To reproduce the paper's experiments, download the data, and save it in the `assets/datasets` folder.
 
 > [!NOTE]  
-> The data is available here: [link](PUT-LINK-HERE)
+> The data is available here: [link](https://drive.google.com/drive/folders/1D1FNeKBuFYC2BHxFWgzfm-cj2K3rVhnr?usp=sharing)
 
 
 ### Experiment 1, 2.1, and 2.2
@@ -100,16 +106,19 @@ for nb in {1..5}; do for seed in {1..20}; do python scripts/train.py --seed $see
 
 To reproduce the paper's figures, run the following commands:
 
-| **Figures**                        | **Console command**                  |
-|------------------------------------|--------------------------------------|
-| Experiment 1                       | TBD                                  |
-| Experiment 2.1                     | `python visu/figure12a.py`           |
-| Experiment 2.2                     | `python visu/figure12b.py`           |
-| Experiment 3                       | TBD                                  |
-| Experiment 4                       | `python visu/figure14.py`            |
-| Figure 6 & 18: Lipschitz constants | `python visu/lipschitz_constants.py` |
-| Figure 16: MoCap data analysis     | TBD                                  |
-| Figure 17: Loss gradients          | `python visu/loss_gradients.py`      |
+| **Figures**                        | **Console command**                   |
+|------------------------------------|---------------------------------------|
+| Experiment 1                       | `python visu/figure_pointcloud.py`    |
+| Experiment 2.1                     | `python visu/figure_exp2a.py`         |
+| Experiment 2.2                     | `python visu/figure_exp2b.py`         |
+| Experiment 3                       | `python visu/figure_posenet.py`       |
+| Experiment 4                       | `python visu/figure_fourier.py`       |
+| Figure 6 & 20: Lipschitz constants | `python visu/lipschitz_constants.py`  |
+| Figure 10: Training GSO & SVD      | `python visu/gso_vs_svd_animation.py` |
+| Figure 11: Gradient ratios of SVD  | `python visu/gso_vs_svd.py`           |
+| Figure 18: Loss gradients          | `python visu/loss_gradients.py`       |
+| Figure 19: MoCap data analysis     | `python visu/figure_mocap.py`         |
+
 
 # Development
 ### Code Formatting
@@ -130,5 +139,3 @@ pip3 install addheader
 addheader hitchhiking_rotations -t .header.txt -p \*.py --sep-len 79 --comment='#' --sep=' '
 ```
 
-# Credits
-TBD

hitchhiking_rotations/cfgs/cfg_cube_image_to_pose.py

@@ -7,6 +7,7 @@ def get_cfg_cube_image_to_pose(device):
     shared_trainer_cfg = {
         "_target_": "hitchhiking_rotations.utils.Trainer",
         "lr": 0.001,
+        "patience": 10,
         "optimizer": "Adam",
         "logger": "${logger}",
         "verbose": "${verbose}",

hitchhiking_rotations/cfgs/cfg_pcd_to_pose.py

@@ -7,6 +7,7 @@ def get_cfg_pcd_to_pose(device):
     shared_trainer_cfg = {
         "_target_": "hitchhiking_rotations.utils.Trainer",
         "lr": 0.001,
+        "patience": 10,
         "optimizer": "Adam",
         "logger": "${logger}",
         "verbose": "${verbose}",

scripts/run_all.py

@@ -12,7 +12,7 @@
 for seed in range(10):
     os.system(f"python3 {p} --experiment {exp} --seed {seed}")
 if exp in exps[:2]:
-    os.system("python3 " + str(os.path.join(HITCHHIKING_ROOT_DIR, "visu", "figure_19.py ") + exp))
-    os.system("python3 " + str(os.path.join(HITCHHIKING_ROOT_DIR, "visu", "figure_12a.py ") + exp))
+    os.system("python3 " + str(os.path.join(HITCHHIKING_ROOT_DIR, "visu", "figure_pointcloud.py ") + exp))
+    os.system("python3 " + str(os.path.join(HITCHHIKING_ROOT_DIR, "visu", "figure_exp2a.py ") + exp))
 else:
-    os.system("python3 " + str(os.path.join(HITCHHIKING_ROOT_DIR, "visu", "figure_12b.py")))
+    os.system("python3 " + str(os.path.join(HITCHHIKING_ROOT_DIR, "visu", "figure_exp2b.py")))

visu/figure_12a.py → visu/figure_exp2a.py

@@ -83,7 +83,7 @@
 plt.xticks([0.3, 0.4, 0.5, 0.6], ["0.3", "0.4", "0.5", "0.6"])
 
 plt.tight_layout()
-out_p = os.path.join(HITCHHIKING_ROOT_DIR, "results", exp, "figure_12a.pdf")
+out_p = os.path.join(HITCHHIKING_ROOT_DIR, "results", exp, "figure_exp2a.pdf")
 
 plt.savefig(out_p)
 plt.show()

visu/figure_12b.py → visu/figure_exp2b.py

@@ -73,6 +73,6 @@
 plt.xticks([0.0005, 0.001, 0.002, 0.004], [r"$5\cdot10^{-4}$", r"$10^{-3}$", r"$2\cdot10^{-3}$", r"$4\cdot10^{-3}$"])
 
 plt.tight_layout()
-out_p = os.path.join(HITCHHIKING_ROOT_DIR, "results", "pose_to_cube_image", "figure_12b.pdf")
+out_p = os.path.join(HITCHHIKING_ROOT_DIR, "results", "pose_to_cube_image", "figure_exp2b.pdf")
 plt.savefig(out_p)
 plt.show()

visu/figure_14.py → visu/figure_fourier.py

@@ -102,6 +102,6 @@
 plt.yscale("log")
 plt.tight_layout()
 
-out_p = os.path.join(HITCHHIKING_ROOT_DIR, "results", "figure_14.pdf")
+out_p = os.path.join(HITCHHIKING_ROOT_DIR, "results", "figure_fourier.pdf")
 plt.savefig(out_p)
 plt.show()

visu/figure_19.py → visu/figure_pointcloud.py

@@ -120,7 +120,7 @@
     # plt.xscale("log")
     plt.tight_layout()
 
-out_p = os.path.join(HITCHHIKING_ROOT_DIR, "results", exp, f"figure_19_combined.pdf")
+out_p = os.path.join(HITCHHIKING_ROOT_DIR, "results", exp, f"figure_pointcloud_combined.pdf")
 
 plt.savefig(out_p)
 

visu/figure_13.py → visu/figure_posenet.py

@@ -113,5 +113,5 @@ def generate_colormap(base_color, lvl=0.2, alpha=0.5):
 plt.grid(True, linestyle="--", color="gray", alpha=0.5)
 
 plt.tight_layout()
-plt.savefig(os.path.join(HITCHHIKING_ROOT_DIR, "results", "dense_fusion", "figure_13.pdf"))
+plt.savefig(os.path.join(HITCHHIKING_ROOT_DIR, "results", "dense_fusion", "figure_posenet.pdf"))
 plt.show()