cap-liquid-sensing

train.py:

Training file for PWP model

train_bc.py:

Training file for behavior cloning model

pouring.py:

Training data collection code for PWP model

pouring - bc.py:

Training data collection code for behavior cloning model

pouring - control.py:

Manipulation code for PWP model

pouring - bc - control.py:

Manipulation code for behavior cloning model

data - collection.py:

Training and test data collection code for classification

rl_final.ipynb:

Training, evaluation file for classification

teensy_100hz.ino:

Capacitive sensing Teensy code

hx711_scale.ino:

Weighing scale code

ckpts_final:

Saved model parameters for PWP, behavior cloning, OWE second-order polynomial

Raw data for both classification and pouring:

https://drive.google.com/file/d/1baFO95Sd-MPjYHMJaAIf3xd2C4GPr2dR/view?usp=sharing