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Fully neuromorphic vision and control for autonomous drone flight

Work published in Science Robotics [project page]. If you use this code, please cite our work:

@article{paredesvalles2024fully,
  author = {F. Paredes-Vallés  and J. J. Hagenaars  and J. Dupeyroux  and S. Stroobants  and Y. Xu  and G. C. H. E. de Croon},
  title = {Fully neuromorphic vision and control for autonomous drone flight},
  journal = {Science Robotics},
  volume = {9},
  number = {90},
  pages = {eadi0591},
  year = {2024},
  doi = {10.1126/scirobotics.adi0591}
}

This code allows for the training of the 'vision spiking network' as shown in part C of the figure below.

Training

The raw dataset from the article can be downloaded from here. We have a processed version of it here. By default, this dataset is expected at data/datasets/.

To train a model defined in one of the configs/*.yaml files, run:

python train.py --config configs/<config-of-choice>.yaml

You can track the training progress with MLflow:

mlflow ui

and accessing http://127.0.0.1:5000/.

Inference

To estimate planar optical flow from the test sequences from our dataset and compare against ground-truth data, run:

python eval_flow.py <model_runid>

where <model_runid> is the ID of the run to be evaluated (check MLflow).