RoboKit

A toolkit for robotic tasks

Features

• Zero-shot classification using OpenAI CLIP.
• Zero-shot text-to-bbox approach for object detection using GroundingDINO.
• Zero-shot bbox-to-mask approach for object detection using SegmentAnything (MobileSAM).
• Zero-shot image-to-depth approach for depth estimation using Depth Anything.
• Zero-shot feature upsampling using FeatUp.

Getting Started

Prerequisites

TODO

• Python 3.7 or higher (tested 3.9)
• torch (tested 2.0)
• torchvision

Installation

git clone https://github.com/IRVLUTD/robokit.git && cd robokit 
pip install -r requirements.txt
conda install pytorch torchvision torchaudio pytorch-cuda=11.8 -c pytorch -c nvidia
python setup.py install

Note: Check GroundingDINO installation for the following error

NameError: name '_C' is not defined

Usage

• Note: All test scripts are located in the test directory. Place the respective test scripts in the root directory to run.
• SAM: test_sam.py
• GroundingDINO + SAM: test_gdino_sam.py
• GroundingDINO + SAM + CLIP: test_gdino_sam_clip.py
• Depth Anything: test_depth_anything.py
• FeatUp: test_featup.py
• Test Datasets: test_dataset.py
  • python test_dataset.py --gpu 0 --dataset <ocid_object_test/osd_object_test>

Roadmap

Future goals for this project include:

• Add a config to set the pretrained checkpoints dynamically
• More: TODO

Acknowledgments

This project is based on the following repositories (license check mandatory):

• CLIP
• MobileSAM
• GroundingDINO
• DepthAnything
• FeatUp

License

This project is licensed under the MIT License. However, before using this tool please check the respective works for specific licenses.