charlesH777/grasp-anything-9040

Grasp Anything 2D — Checkpoint 9040 (grasp_rect 专用)

基于 NVIDIA LocateAnything-3B 的语言引导二维抓取模型,Phase 2 SFT 阶段产物。

任务

grasp_rect — 输出 (cx, cy, θ, width) 矩形抓取参数,按 RealVLG 固定 40 px depth 展开矩形。

评测结果(RealVLG 官方 652 样本)

• —评测协议: evaluate_realvlg_grasp.py,fast 模式
• —gAcccorrectedstrict: IoU>0.25 且 angle<30° (mod 180, 修正了官方 radian/degree bug)
• —对比 RealVLG-R1 GRPO Grasp 3B: seen gAcc +28.5%, similar +22.1%

使用方法

from locate_anything_service.model import LocateAnythingRuntime
from locate_anything_service.config import Settings

settings = Settings(model_id="charlesH777/grasp-anything-9040")
runtime = LocateAnythingRuntime(settings)
result = runtime.predict("image.jpg", "抓取红色杯子", mode="grasp_rect")

训练配置

• —阶段: Phase 2 SFT (grasp_rect 专用)
• —LLM LoRA: rank 32, target Qwen2.5-3B-Instruct
• —训练参数: grasp_rect_task_enabled: true, contact_loss_enabled: false