Refer and Grasp: Vision-Language Guided Continuous Dexterous Grasping

IROS 2025

🌐 Website | 🗃️ Dataset

PolyFormerRGBD

PolyFormer with RGBD input.

Installation

# create conda environment
conda create -n polyformer_rgbd python=3.7.4 -y
conda activate polyformer_rgbd
# install dependencies
conda install -c conda-forge ld_impl_linux-64 -y
pip install pip==21.2.4
pip install -r requirements.txt

Download Checkpoint

The RGBD checkpoint can be downloaded from OneDrive (2.4GB).
Place the checkpoint in ./checkpoints/ folder.

Run the Inference Demo

python res.py

Acknowledgement

This repository is based on the PolyFormer. We thank the authors for their great work.