Paper_link: https://arxiv.org/abs/2502.13143
Project Page: https://qizekun.github.io/sofar/
Github Code: https://github.com/qizekun/SoFar
We introduce the concept of semantic orientation, representing the object orientation condition on open vocabulary language. The model is part of SoFar, a 6-DoF system for spatial reasoning and robotic manipulation. The released weights is on Huggingface PointSO, and the code is in the orientation folder.
Download the PointMAE as initialization.
wget https://github.com/Pang-Yatian/Point-MAE/releases/download/main/pretrain.pth -P orientation/
Perpare the OrienText300K dataset following DATASET.md.
cd orientation
sh train_ddp.sh
Perpare the Open6DOR finetuning dataset following DATASET.md. The dataset is generated from isaac sim with different assets from Open6DOR. Finetune PointSO will significantly improve the performance on Open6DOR rotation track & 6-DoF track. We recommend using this version of the model for the Open6DOR V2 evaluation.
cd orientation
sh train_ddp_ft.sh
Paper_link: https://arxiv.org/abs/2502.13143
Project Page: https://qizekun.github.io/sofar/
Github Code: https://github.com/qizekun/SoFar
We introduce the concept of semantic orientation, representing the object orientation condition on open vocabulary language. The model is part of SoFar, a 6-DoF system for spatial reasoning and robotic manipulation. The released weights is on Huggingface PointSO, and the code is in the orientation folder.
Download the PointMAE as initialization.
wget https://github.com/Pang-Yatian/Point-MAE/releases/download/main/pretrain.pth -P orientation/
Perpare the OrienText300K dataset following DATASET.md.
cd orientation
sh train_ddp.sh
Perpare the Open6DOR finetuning dataset following DATASET.md. The dataset is generated from isaac sim with different assets from Open6DOR. Finetune PointSO will significantly improve the performance on Open6DOR rotation track & 6-DoF track. We recommend using this version of the model for the Open6DOR V2 evaluation.
cd orientation
sh train_ddp_ft.sh