---
license: bsd-2-clause
---
# Spatial attention recurrent neural network (SARNN)

The model was trained with the [MujocoUR5eCable dataset](https://huggingface.co/datasets/RoboManipBaselines/MujocoUR5eCable).

## Install
See [GitHub](https://github.com/isri-aist/RoboManipBaselines/blob/master/doc/install.md#SARNN) for installation.

## Policy rollout
Run a trained policy:
```console
# Go to the top directory of this repository
$ cd robo_manip_baselines
$ python ./bin/Rollout.py Sarnn MujocoUR5eCable --checkpoint ./checkpoint/Sarnn/<checkpoint_name>/policy_last.ckpt
```

## Technical Details
For more information on the technical details, please see the following paper:
```bib
@INPROCEEDINGS{SARNN_ICRA2022,
  author = {Ichiwara, Hideyuki and Ito, Hiroshi and Yamamoto, Kenjiro and Mori, Hiroki and Ogata, Tetsuya},
  title = {Contact-Rich Manipulation of a Flexible Object based on Deep Predictive Learning using Vision and Tactility},
  booktitle = {International Conference on Robotics and Automation},
  year = {2022},
  pages = {5375-5381},
  doi = {10.1109/ICRA46639.2022.9811940}
}
```

## RoboManipBaselines Paper
https://huggingface.co/papers/2509.17057