The benchmark-independent weights of GAM (Grounded Action Model): the general WildDet3D detector (SAM3 backbone, text / click prompts, 2D + 3D box heads, depth head) and the universal span head that turns a task string into the object phrases to ground. They are the defaults of the LeRobot / real-robot line of the released code (configs/lerobotbimanual.yaml): a LeRobot dataset with a task string can be trained on without manual labelling, but these weights are not tuned to any particular scene — on a new robot / camera / object set the detector (and the span head) may need fine-tuning for reliable grounding. Resolution matters. WildDet3D's native input is about 1k pixels (images are…
Independent publisher
Gehao Zhang
gehaozhang
Models in Library3
Datasets in Library0
Models on Hugging Face3
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Published tasks: Robotics.
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Models
GAM (Grounded Action Model) grounds the objects named in the instruction with an open-vocabulary 3D detector (WildDet3D), turns each object into a 3D box, a point cloud and a handful of image tokens, and predicts action chunks with a flow-matching transformer. This repository holds everything the released code needs to run GAM on RoboTwin 2.0: the RoboTwin-tuned detector, one action expert per task and the precomputed training cache of every task. All files are referenced from configs/robotwin/.yaml and download on first use. The videos are evaluation rollouts of the released experts; the wireframes are the 3D boxes the policy was given at that step (predicted by the detector from the RGB…
GAM (Grounded Action Model) grounds the objects named in the instruction with an open-vocabulary 3D detector (WildDet3D), turns each object into a 3D box, a point cloud and a handful of image tokens, and predicts action chunks with a flow-matching transformer. This repository holds everything the released code needs to run GAM on LIBERO / LIBERO-PRO: the LIBERO-tuned detector, one policy for all four suites, its span head and the precomputed training cache. All files are referenced from configs/liberopro.yaml and download on first use; the LIBERO-PRO task files (bddl + initial states) are in The videos are evaluation rollouts of the released policy on LIBERO-PRO cells (suite /…