

OK Robot
Overview :
OK-Robot is an open and modular framework that enables zero-shot item transportation tasks based on language instructions in any home environment. The framework adopts a modular design, utilizing 3D VoxelMap for open vocabulary navigation, AnyGrasp and LangSam for open vocabulary grasping, and a placement primitive for item placement. The framework does not require pre-training and can achieve zero-shot generalization of language instructions.
Target Users :
Home service robot, enabling tasks like carrying items to assist with household chores.
Use Cases
Take the red olive oil bottle from the table to the refrigerator.
Move the remote control from the sofa to the coffee table.
Take an apple from the fruit bowl and bring it to the kitchen.
Features
Open vocabulary navigation system
Open vocabulary grasping system
Placement primitive system
Modular design, easy to extend
Zero-shot generalization, no pre-training required
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