CoPa: General Robotic Manipulation through Spatial Constraints of Parts with Foundation Models

[Project page] [Paper]

Haoxu Huang*, Fanqi Lin*, Yingdong Hu, Shengjie Wang, Yang Gao

This repository is the official implementation of the paper: CoPa: General Robotic Manipulation through Spatial Constraints of Parts with Foundation Models

Get Started

Install SoM following the instruction.
Install graspnetAPI.
Download examples and place it under the data directory.
Run the demo

$ python demo.py

Real-World Deployment

Please follow the instruction in real_world/README.md.

Acknowledgement

• Our grounding module is adapted from SoM.
• We use GraspNet for grasp candidates generation.