Duplicate from qizekun/PointSO

Co-authored-by: Zekun Qi <qizekun@users.noreply.huggingface.co>

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README.md

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+---
+license: mit
+datasets:
+- allenai/objaverse
+- allenai/objaverse-xl
+- qizekun/OrienText300K
+- tiange/Cap3D
+language:
+- en
+---
+
+
+# PointSO
+
+Paper_link: https://arxiv.org/abs/2502.13143
+<br>
+Project Page: https://qizekun.github.io/sofar/
+<br>
+Github Code: https://github.com/qizekun/SoFar
+
+We introduce the concept of semantic orientation, representing the object orientation condition on open vocabulary language.
+The model is part of [SoFar](https://github.com/qizekun/SoFar), a 6-DoF system for spatial reasoning and robotic manipulation.
+The released weights is on [Huggingface PointSO](https://huggingface.co/qizekun/PointSO), and the code is in the [orientation](https://github.com/qizekun/SoFar/tree/main/orientation) folder.
+
+## Pretrain
+Download the PointMAE as initialization.
+```bash
+wget https://github.com/Pang-Yatian/Point-MAE/releases/download/main/pretrain.pth -P orientation/
+```
+Perpare the OrienText300K dataset following [DATASET.md](https://github.com/qizekun/SoFar/blob/main/datasets/DATASET.md).
+```bash
+cd orientation
+sh train_ddp.sh
+```
+
+## Finetune
+Perpare the Open6DOR finetuning dataset following [DATASET.md](https://github.com/qizekun/SoFar/blob/main/datasets/DATASET.md).
+The dataset is generated from isaac sim with different assets from Open6DOR.
+Finetune PointSO will significantly improve the performance on Open6DOR rotation track & 6-DoF track. 
+We recommend using this version of the model for the Open6DOR V2 evaluation.
+```bash
+cd orientation
+sh train_ddp_ft.sh
+```

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