用于机器人抓取检测的深学习代码

  Code for Deep Learning for Detecting Robotic Grasps.Intended to be a simple codebase which will allow you to load the grasping dataset, process and whiten it, train a network, and perform grasp detection. Currently does not contain more advanced uation code (cross-validation, scoring, etc.), or code for the two-pass system I add dropout to this code.

Dropout1
........\backpropData
........\............\backprogation.mat,2164,2014-10-16
........\............\classify_error.mat,1624,2014-10-16
........\............\classify_weights.mat,3132740,2014-10-16
........\data
........\....\graspModes24.mat,219,2014-09-19
........\....\graspTestData.mat,3177092,2014-09-19
........\....\graspTrainData.mat,6348712,2014-09-19
........\minFunc
........\.......\ArmijoBacktrack.m,3204,2014-09-02
........\.......\autoGrad.m,807,2014-09-02
........\.......\autoHess.m,901,2014-09-02
........\.......\autoHv.m,317,2014-09-02
........\.......\autoTensor.m,870,2014-09-02
........\.......\callOutput.m,378,2014-09-02
........\.......\conjGrad.m,1845,2014-09-02
........\.......\dampedUpdate.m,995,2014-09-02
........\.......\example_minFunc.m,2421,2014-09-02
........\.......\example_minFunc_LR.m,1604,2014-09-02
........\.......\isLegal.m,107,2014-09-02
........\.......\lbfgs.m,924,2014-09-02
........\.......\lbfgsC.c,2408,2014-09-02
........\.......\lbfgsC.mexa64,7707,2014-09-02
........\.......\lbfgsC.mexglx,7733,2014-09-02
........\.......\lbfgsC.mexmac,9500,2014-09-02
........\.......\lbfgsC.mexmaci,12660,2014-09-02
........\.......\lbfgsC.mexmaci64,8800,2014-09-02
........\.......\lbfgsC.mexw32,7168,2014-09-02
........\.......\lbfgsC.mexw64,9728,2014-09-02
........\.......\lbfgsUpdate.m,614,2014-09-02
........\.......\logistic
........\.......\........\LogisticDiagPrecond.m,417,2014-09-02
........\.......\........\LogisticHv.m,216,2014-09-02
........\.......\........\LogisticLoss.m,669,2014-09-02
........\.......\........\mexutil.c,1154,2014-09-02
........\.......\........\mexutil.h,317,2014-09-02
........\.......\........\mylogsumexp.m,144,2014-09-02
........\.......\mchol.m,1287,2014-09-02
........\.......\mcholC.c,4190,2014-09-02
........\.......\mcholC.mexmaci64,13184,2014-09-02
........\.......\mcholC.mexw32,8192,2014-09-02
........\.......\mcholC.mexw64,12288,2014-09-02
........\.......\mcholinc.m,564,2014-09-02
........\.......\minFunc.m,43070,2014-09-02
........\.......\minFunc_processInputOptions.m,3704,2014-09-02
........\.......\polyinterp.m,4217,2014-09-02
........\.......\precondDiag.m,42,2014-09-02
........\.......\precondTriu.m,51,2014-09-02
........\.......\precondTriuDiag.m,60,2014-09-02
........\.......\rosenbrock.m,1074,2014-09-02
........\.......\taylorModel.m,677,2014-09-02
........\.......\WolfeLineSearch.m,11395,2014-09-02
........\recTraining
........\...........\auroc.m,2284,2014-09-02
........\...........\bsxfunwrap.m,1030,2014-09-02
........\...........\dirtyRegCostL0.m,990,2014-09-02
........\...........\histtest.m,961,2014-09-25
........\...........\inverseSigmoid.m,107,2014-09-02
........\...........\l2rowscaled.m,207,2014-09-02
........\...........\logSumExpL0Cost.m,1286,2014-09-02
........\...........\multimodalRegL0.m,914,2014-09-02
........\...........\nogpu
........\...........\.....\gather.m,22,2014-09-02
........\...........\.....\gpuArray.m,24,2014-09-02
........\...........\pNormGrad.m,323,2014-09-02
........\...........\README.txt,1300,2014-09-02
........\...........\roc1.m,548,2014-09-02
........\...........\rocdemo.m,3432,2014-09-27
........\...........\runBackpropMultiReg1.m,10210,2014-09-27
........\...........\runSAEMultiSparse.m,3177,2014-09-27
........\...........\scaleAndBiasWeights.m,1005,2014-09-02
........\...........\scaleMaskByModes2.m,398,2014-09-02
........\...........\smoothedAbs.m,316,2014-09-02
........\...........\smoothedL1Cost.m,409,2014-09-02
........\...........\softmaxBackpropCostMultiReg.m,4367,2014-10-16
........\...........\softmaxInitCost.m,2342,2014-09-02
........\...........\sparseAECostBinaryGenBias.m,1921,2014-09-02
........\...........\sparseAECostMultiRegWeighted.m,1723,2014-09-02
........\...........\trainGraspRecMultiSparse.m,2315,2014-09-17

........\...........\Whist.m,733,2014-09-25
........\util
........\....\caseWiseWhiten.m,971,2014-09-02
........\....\getSurfNorm.m,342,2014-09-02
........\....\graspPCDToRGBDImage.m,523,2014-09-02
........\....\interpMaskedData.m,1070,2014-09-02
........\....\orientedRGBDRectangle.m,1558,2014-09-02
........\....\padImage.m,962,2014-09-02
........\....\padMaskedImage2.m,1058,2014-09-02
........\....\pointsInAARect.m,450,2014-09-02
........\....\readGraspingPcd.m,2401,2014-09-02
........\....\removeOutliers.m,461,2014-09-02
........\....\resizeMaskedImage2.m,526,2014-09-02
........\....\rgb2yuv.m,840,2014-09-02
........\....\rotMat2D.m,189,2014-09-02
........\....\smartInterpMaskedData.m,460,2014-09-02
........\....\unpackRGBFloat.m,401,2014-09-02
........\weights
........\.......\graspWFinal.mat,3132740,2014-10-16