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Title: GitHub - IRVLUTD/NIDS-Net: [IROS 2025] NIDS-Net: A unified framework for novel instance detection and segmentation

Open Graph Title: GitHub - IRVLUTD/NIDS-Net: [IROS 2025] NIDS-Net: A unified framework for novel instance detection and segmentation

X Title: GitHub - IRVLUTD/NIDS-Net: [IROS 2025] NIDS-Net: A unified framework for novel instance detection and segmentation

Description: [IROS 2025] NIDS-Net: A unified framework for novel instance detection and segmentation - IRVLUTD/NIDS-Net

Open Graph Description: [IROS 2025] NIDS-Net: A unified framework for novel instance detection and segmentation - IRVLUTD/NIDS-Net

X Description: [IROS 2025] NIDS-Net: A unified framework for novel instance detection and segmentation - IRVLUTD/NIDS-Net

Opengraph URL: https://github.com/IRVLUTD/NIDS-Net

X: @github

direct link

Domain: patch-diff.githubusercontent.com

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og:image:alt	[IROS 2025] NIDS-Net: A unified framework for novel instance detection and segmentation - IRVLUTD/NIDS-Net
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67 Commits	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/commits/main/
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/commits/main/
configs	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/configs
configs	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/configs
imgs	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/imgs
imgs	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/imgs
robokit	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/robokit
robokit	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/robokit
ros	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/ros
ros	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/ros
segment_anything	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/segment_anything
segment_anything	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/segment_anything
src	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/src
src	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/src
test_data	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/test_data
test_data	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/test_data
utils	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/utils
utils	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/tree/main/utils
.gitignore	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/.gitignore
.gitignore	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/.gitignore
LICENSE	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/LICENSE
LICENSE	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/LICENSE
README.md	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/README.md
README.md	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/README.md
RoboTools_test_eval_gdino_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/RoboTools_test_eval_gdino_FFA.py
RoboTools_test_eval_gdino_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/RoboTools_test_eval_gdino_FFA.py
adapter.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/adapter.py
adapter.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/adapter.py
demo_eval_gdino_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/demo_eval_gdino_FFA.py
demo_eval_gdino_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/demo_eval_gdino_FFA.py
environment.yml	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/environment.yml
environment.yml	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/environment.yml
eval_results.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/eval_results.py
eval_results.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/eval_results.py
get_RoboTools_prediction.sh	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/get_RoboTools_prediction.sh
get_RoboTools_prediction.sh	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/get_RoboTools_prediction.sh
get_object_features_via_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/get_object_features_via_FFA.py
get_object_features_via_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/get_object_features_via_FFA.py
get_ycbv_prediction.sh	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/get_ycbv_prediction.sh
get_ycbv_prediction.sh	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/get_ycbv_prediction.sh
lmo_test_eval_gdino_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/lmo_test_eval_gdino_FFA.py
lmo_test_eval_gdino_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/lmo_test_eval_gdino_FFA.py
mini_test_eval_gdino_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/mini_test_eval_gdino_FFA.py
mini_test_eval_gdino_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/mini_test_eval_gdino_FFA.py
nids.rviz	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/nids.rviz
nids.rviz	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/nids.rviz
obj_adapter.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/obj_adapter.py
obj_adapter.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/obj_adapter.py
requirements.txt	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/requirements.txt
requirements.txt	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/requirements.txt
run_inference.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/run_inference.py
run_inference.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/run_inference.py
setup.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/setup.py
setup.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/setup.py
test_gdino_sam.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/test_gdino_sam.py
test_gdino_sam.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/test_gdino_sam.py
transform_adapted_feats.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/transform_adapted_feats.py
transform_adapted_feats.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/transform_adapted_feats.py
ycbv_test_eval_gdino_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/ycbv_test_eval_gdino_FFA.py
ycbv_test_eval_gdino_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/ycbv_test_eval_gdino_FFA.py
README	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net
MIT license	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#nids-net
arXiv	https://arxiv.org/abs/2405.17859
Project	https://irvlutd.github.io/NIDSNet/
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#adapting-pre-trained-vision-models-for-novel-instance-detection-and-segmentation
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#framework
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/imgs/fw0.png
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#foreground-feature-averaging-ffa
FFA	https://github.com/s-tian/CUTE
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/imgs/FFA3.png
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#detection-example
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/imgs/det6.png
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#bop-leaderboard
Ranked #1: Model-based 2D segmentation of unseen objects – Core datasets	https://bop.felk.cvut.cz/leaderboards/segmentation-unseen-bop23/core-datasets/
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/imgs/leaderboard.png
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#segmentation-example
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/imgs/seg_1.png
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#getting-started
inference on a high-resolution image	https://colab.research.google.com/drive/1dtlucQ5QryLgooSDkH-Qumxrrnb-9FCg?usp=sharing
Training free one-shot detection	https://colab.research.google.com/drive/1IM8TgpNo_9TijopO3PRyZea7MgTUjv30?usp=sharing
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#prerequisites
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#installation
ViT-H SAM weights	https://github.com/facebookresearch/segment-anything#model-checkpoints
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#download-vit-h-sam-weights
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#preparing-datasets
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#high-resolution-dataset
instance-detection repo	https://github.com/insdet/instance-detection
InsDet-Full	https://drive.google.com/drive/folders/1rIRTtqKJGCTifcqJFSVvFshRb-sB0OzP
link	https://utdallas.box.com/s/bfcgn0dpbvu5w5be20wyj41fzsjajh4h
instance-detection	https://github.com/insdet/instance-detection
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#robotools-lm-o-and-ycb-v
datasets	https://github.com/Jaraxxus-Me/VoxDet
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#usage
inference on a high-resolution image	https://colab.research.google.com/drive/1dtlucQ5QryLgooSDkH-Qumxrrnb-9FCg?usp=sharing
Training free one-shot detection	https://colab.research.google.com/drive/1IM8TgpNo_9TijopO3PRyZea7MgTUjv30?usp=sharing
test_gdino_sam.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/test_gdino_sam.py
get_object_features_via_FFA.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/get_object_features_via_FFA.py
template embeddings and model weights for detection datasets	https://utdallas.box.com/s/ieo7lochg1dzzdjfqm7saiudaeptufoi
adapter.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/adapter.py
adapter.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/adapter.py
adapter.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/adapter.py
link	https://utdallas.box.com/s/ieo7lochg1dzzdjfqm7saiudaeptufoi
eval_results.py	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/blob/main/eval_results.py
sel_roi['mask'] = mask	https://github.com/YoungSean/NIDS-Net/blob/main/utils/inference_utils.py#L181
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#bop-challenge-2023
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#segmentation-datasets
CNOS	https://github.com/nv-nguyen/cnos?tab=readme-ov-file#2-datasets-and-model-weights
CNOS	https://github.com/nv-nguyen/cnos
SAM6D	https://github.com/JiehongLin/SAM-6D
link	https://utdallas.box.com/s/yw8oazutnp1ektcnzh3hm8u5vjtq7to7
BOP datasets	https://bop.felk.cvut.cz/datasets/
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#inference-on-bop-datasets
here	https://utdallas.box.com/s/yw8oazutnp1ektcnzh3hm8u5vjtq7to7
self.use_adapter	https://github.com/YoungSean/NIDS-Net/blob/main/src/model/detector.py#L187
model weight path	https://github.com/YoungSean/NIDS-Net/blob/main/src/model/detector.py#L195
the adapted template embedding path	https://github.com/YoungSean/NIDS-Net/blob/main/src/model/detector.py#L220
directory	https://github.com/YoungSean/Novel-Instance-Detection-BOP/blob/840d10ea4954cf9e6e4a77f2a4c49ada005406b6/configs/run_inference.yaml#L10
BOP Challenge website	https://bop.felk.cvut.cz/
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#real-world-robot-experiment
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#youtube-video
YouTube link	https://youtu.be/4ZrZIOaH6-I?si=rCyGRAvJy2JBa9g7
	https://youtu.be/4ZrZIOaH6-I
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#installation-1
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#citation
	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#acknowledgments
GroundingDINO	https://github.com/IDEA-Research/GroundingDINO
MobileSAM	https://github.com/ChaoningZhang/MobileSAM
CLIP	https://github.com/openai/CLIP
VoxDet	https://github.com/Jaraxxus-Me/VoxDet
InsDet	https://github.com/insdet/instance-detection
SAM	https://github.com/facebookresearch/segment-anything
DINOv2	https://github.com/facebookresearch/dinov2
SAM6D	https://github.com/JiehongLin/SAM-6D
FFA	https://github.com/s-tian/CUTE
CNOS	https://github.com/nv-nguyen/cnos
Readme	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#readme-ov-file
MIT license	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net#MIT-1-ov-file
Please reload this page	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net
Activity	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/activity
Custom properties	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/custom-properties
72 stars	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/stargazers
2 watching	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/watchers
6 forks	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/forks
Report repository	https://patch-diff.githubusercontent.com/contact/report-content?content_url=https%3A%2F%2Fgithub.com%2FIRVLUTD%2FNIDS-Net&report=IRVLUTD+%28user%29
Releases	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/releases
Packages 0	https://patch-diff.githubusercontent.com/orgs/IRVLUTD/packages?repo_name=NIDS-Net
Please reload this page	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net
Contributors 2	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/graphs/contributors
	https://github.com/YoungSean
YoungSean Yangxiao Lu	https://github.com/YoungSean
	https://github.com/kninad
kninad Ninad Khargonkar	https://github.com/kninad
Python 99.6%	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/search?l=python
Shell 0.4%	https://patch-diff.githubusercontent.com/IRVLUTD/NIDS-Net/search?l=shell
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Terms	https://docs.github.com/site-policy/github-terms/github-terms-of-service
Privacy	https://docs.github.com/site-policy/privacy-policies/github-privacy-statement
Security	https://github.com/security
Status	https://www.githubstatus.com/
Community	https://github.community/
Docs	https://docs.github.com/
Contact	https://support.github.com?tags=dotcom-footer

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