1. ASL Master Thesis

https://markdownlivepreview.com/ This is the repository accompanying my master's thesis.

Additionally, we created the accompanying repositories:
1.) Pose estimation using ORBSLAM2 Fork
2.) Optical Flow estimation RAFT Fork
3.) Kimera Semantics Fork (Allows fast protobuf export of semantics)
4.) Kimera Interfacer (Generate maps and pseudo labels for ScanNet and Lab data)

We only elaborate on how to run all the experiments and reproduce the results.
For the technical background, I refer to my Master's Thesis.

Repository Overview:

All code related to continual learning experiments is contained in the src folder.

• src Contains all code for training the neural network

  • src/supervisor.py Starts all the training tasks.
  • src/train_task.py Can be called directly or is executed by the supervisor.
    Set's up logger, trainer, and model and executes a single task.
    • src/lightning/lightning.py Contains the full neural network model and logging.
      It is the best starting point to get familiar with the implementation.
    • src/task/task_generator.py Depending on the configuration returns a list of parameters to create multiple training and associated test datasets for each task.

• docker Contains the docker files to generate the pseudo labels using 3D mapping

  • docker/orbslam2_ros ORBSLAM2 Implementation
  • docker/semantics Kimera Semantics + Kimera Interfacer
  • docker/vio Not used in the final report (Kimera VIO)
  • docker/maplab Not used in the final report (Maplab)

• notebooks

  • notebooks/report includes all the jupyter notebooks used to generate all figures in the report

• cfg includes configuration files for:

  • cfg/env Setting up your environment file
  • cfg/exp Experiment files to run all experiments
  • cfg/conda Python conda enviornment

Continual Learning Experiments

Getting started:

Clone the repository:

cd ~ && git clone https://github.com/JonasFrey96/ASL

Create and activate conda environment:

cd ~/ASL && conda env create -f cfg/conda/cl.yml
conda activate cl 

Assumes CUDA 11.0 is installed and uses pytorch=1.7.1 and pytorch-lightning=1.2.0.

You may have to adapt the conda environment depending on your system.

Environment Configuration Explained

Setting up the enviornment file depending on your system.
You can either create a new enviornment file or edit an existin one in the env folder.
For example you can create ASL/cfg/env/your_env_name.yml, with the following content:

# Configuration
workstation: True                 
# If False uses Proxy and copies Dataset to $TMPDIR folder
# -> allows to train on Leonhard and Euler Cluster

base: path_to_your_logging_directory # Here all your experiments are logged
 
# Datasets
cityscapes: ../datasets/cityscapes
nyuv2: ../datasets/nyuv2
coco2014: ../datasets/coco
mlhypersim: ../datasets/mlhypersim
scannet: ../datasets/scannet
scannet_frames_25k: ../datasets/scannet_frames_25k
cocostuff164k: ../datasets/cocostuff164k
 
# Pseudo Labels Path
labels_generic: ../datasets/

The correct env file is chosen based on the global variable ENV_WORKSTATION_NAME.

export ENV_WORKSTATION_NAME="""your_env_name"""

If available set your NeptuneAPI Token to log all the experiments to NeptuneAI:

export NEPTUNE_API_TOKEN="""YOUR_NEPTUNE_KEY"""

With this you have setup the configuration. How to download and install the datasets is explained in Dataset Preperation.

Running Experiments

Running a full CL-scenario:

cd ~/ASL && python supervisor.py --exp=cfg/exp/MA/scannet/25k_pretrain/pretrain.py

exp arguments provides the correct experiment configuration path.

Experiment Configuration Explained

name: test/run1 #Name of the experiment folders
neptne_project_name: YourName/YourProject #NeptuneAI project name  
offline_mode: False # False uses tensorboard, True uses NeptuneAI
TODO

Overview Provided Experiments

Hypersim

1. basic: Standard Memory Buffer
2. memory_size: Evaluate different Memory Sizes
3. sgd_setting: Training Setting Search

ScanNet

1. basic: Standard Memory Buffer
2. buffer_filling: Different Buffer Filling Strategies
3. buffer_size: Buffer Size
4. latent_replay: Latent Replay Experiment
5. no_replay: Catastrophic Forgetting
6. replay_ratios: Replay Ratios
7. single_task: Train on all datasets simultaneously
8. student_teacher: Experiments with soft and hard teacher for replay

Supervision Signal Generation

How to run

CRF & SLIC

TODO

Optical Flow

To create the optical flow we used RAFT
Download the pre-trained models.
You can create the optical flow for the ScanNet dataset using the jupyter Notebook notebook/optical_flow/
You need to make sure to add the correct paths to import the RAFT model and the dataset.
The notebook Report/pseudo_labels_flow.ipynb creates all reported plots and figures.

3D Mapping

Result:

Dataset Preparation

Hypersim

Download the Hypersim Dataset and extract the files following the author's instructions
We additionally provide a .tar file with the first 10 scenes.

Folder structure:

mlhypersim
  ai_XXX_XXX
    images
      scene
        scene_cam_00_final_hdf5
          frame.0000.color.hdf5
          ...
          frame.XXXX.color.hdf5
        scene_cam_00_geometry_hdf5
          frame.0000.semantic.hdf5
          ...
          frame.XXX.semantic.hdf5
  ...
  ...

ScanNet

Download the ScanNet dataset and follow the author's instructions to extract the .sens files into individual files.
Also, make sure to download the 25k files if you want to perform the pre-training.
Here it's important to delete samples from the first 10 scenes to avoid overlapping continual learning and pre-training tasks.
We additionally provide a .tar file with the extracted first 10 scenes.

Folder structure:

scannet
  scannet_frames_25k
    scene0010_00
      color
        000000.jpg
        ...
        XXXXXX.jpg
      depth
        000000.png
        ...
        XXXXXX.png
      label
        000000.png
        ...
        XXXXXX.png
      pose
        000000.txt
        ...
        XXXXXX.txt
      intriniscs_color.txt
      intrinsics_depth.txt
    ...
    ...
    scene0706_00
      ...
  scans
    scene0000_00
      color
        000000.jpg
        ...
        XXXXXX.jpg
      depth
        000000.png
        ...
        XXXXXX.png
      label-filt
        000000.png
        ...
        XXXXXX.png
      pose
        000000.txt
        ...
        XXXXXX.txt
      intrinsics
        intriniscs_color.txt
        intrinsics_depth.txt
    ...
    scene0009_02
    ...

COCO2014

This dataset is only used for pre-training. Download the MS COCO 2014 dataset https://cocodataset.org/#home.

Folder structure:

coco
  train2014
    COCO_train2014_000000000009.jpg
    ...
    COCO_train2014_000000581921.jpg
  val2014
    COCO_val2014_000000000042.jpg
    ...
    COCO_val2014_000000581929.jpg
  annotations
    instances_train2014.json
    instances_val2014.json

COCO164k

This dataset is only used for pre-training. Download the MS COCO 2017 dataset https://cocodataset.org/#home.

Folder structure:

cocostuff164k
  images
    train2017
      000000000009.jpg
      ...
      000000581929.jpg
    val2017
      000000000139.jpg
      ...
      000000581781.jpg
  annotations
    instances_train2014.json
    instances_val2014.json

2. Acknowledgment

• The authors of Fast-SCNN
• TRAMAC implementing Fast-SCNN in PyTorch
• The authors of RAFT
• The authors of ORBSLAM2
• People at http://continualai.org for the inspiration