Grasp Anything 2D — Checkpoint 10501 (grasp_contact 专用)
基于 NVIDIA LocateAnything-3B 的语言引导二维抓取模型,multigt + Vision LoRA 阶段产物。
任务
grasp_contact — 输出平行夹爪两个接触点 (x1, y1, x2, y2),四坐标均为 [0, 1000] 离散 token。
评测结果(RealVLG 官方 mini633)
| Split | n | gAcc_corrected_strict | mIoU_strict | center_err_median (px) |
|---|---|---|---|---|
| seen | 243 | 66.67% | 57.52% | 10.33 |
| similar | 226 | 50.00% | 49.03% | 16.55 |
| novel | 164 | 28.05% | 26.86% | 56.87 |
- 评测协议:
evaluate_realvlg_contact.py,fast 模式 - contact 专用 checkpoint 中性能最强
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-10501")
runtime = LocateAnythingRuntime(settings)
result = runtime.predict("image.jpg", "抓取红色杯子", mode="grasp_contact")
训练配置
- 阶段: multigt + Vision LoRA (MoonViT LoRA rank 8, last 4 layers)
- LLM LoRA: rank 32
- 训练量: seen_contact_blocks = 168,016
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