├── .github ├── PULL_REQUEST_TEMPLATE.md └── workflows │ └── formatter.yaml ├── .gitignore ├── .gitmodules ├── .project-root ├── LICENSE ├── README.md ├── assets ├── feature_map_vis │ ├── 0.png │ ├── 1.png │ ├── 2.png │ └── 3.png ├── loopy_spa.png └── teaser.gif ├── configs ├── __init__.py ├── callbacks │ ├── default.yaml │ ├── default_ema.yaml │ ├── device_stats_monitor.yaml │ ├── early_stopping.yaml │ ├── ema.yaml │ ├── ema_model_checkpoint.yaml │ ├── lr_monitor.yaml │ ├── model_checkpoint.yaml │ ├── model_summary.yaml │ ├── none.yaml │ ├── rich_progress_bar.yaml │ └── stochastic_weight_averaging.yaml ├── data │ └── scannet.yaml ├── debug │ ├── default.yaml │ ├── fdr.yaml │ ├── limit.yaml │ ├── overfit.yaml │ └── profiler.yaml ├── experiment │ ├── spa_pretrain_vitb.yaml │ └── spa_pretrain_vitl.yaml ├── extras │ └── default.yaml ├── hydra │ └── default.yaml ├── local │ └── .gitkeep ├── logger │ ├── aim.yaml │ ├── comet.yaml │ ├── csv.yaml │ ├── many_loggers.yaml │ ├── mlflow.yaml │ ├── neptune.yaml │ ├── tensorboard.yaml │ └── wandb.yaml ├── model │ └── spa_pretrain.yaml ├── paths │ └── default.yaml ├── train.yaml └── trainer │ ├── cpu.yaml │ ├── ddp.yaml │ ├── ddp_sim.yaml │ ├── default.yaml │ ├── gpu.yaml │ └── mps.yaml ├── libs └── spa-ops │ ├── __init__.py │ ├── deform_attn │ ├── ms_deform_attn_utils.py │ └── src │ │ ├── ms_deform_attn.cpp │ │ ├── ms_deform_attn.h │ │ ├── ms_deform_attn_cuda.cu │ │ ├── ms_deform_attn_cuda.h │ │ └── ms_deform_im2col_cuda.cuh │ ├── grid_sampler │ ├── __init__.py │ ├── grid_sampler.py │ └── src │ │ ├── grid_sampler.cpp │ │ └── grid_sampler_cuda.cu │ ├── setup.py │ └── voxel_pool │ ├── __init__.py │ ├── src │ ├── voxel_pool.cpp │ └── voxel_pool_cuda.cu │ └── voxel_pool.py ├── requirements.txt ├── scripts ├── generate_scannet_metadata.py └── visualize_featuremap.py ├── setup.py └── spa ├── __init__.py ├── data ├── __init__.py ├── base_cat_datamodule.py ├── combined_loader.py └── components │ ├── __init__.py │ ├── processor │ ├── __init__.py │ ├── augmentor_utils.py │ ├── data_processor.py │ └── data_processor_gpu.py │ ├── scannet │ ├── __init__.py │ └── scannet_multiview_spa_pretrain.py │ └── transform.py ├── models ├── __init__.py ├── components │ ├── __init__.py │ ├── dense_heads │ │ ├── __init__.py │ │ └── render_head.py │ ├── img_backbones │ │ ├── __init__.py │ │ ├── modules.py │ │ ├── utils.py │ │ └── vit.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── attention_utils.py │ │ ├── render_utils │ │ │ ├── decoders.py │ │ │ ├── fields │ │ │ │ ├── __init__.py │ │ │ │ └── sdf_field.py │ │ │ ├── models │ │ │ │ ├── __init__.py │ │ │ │ ├── base_surface_model.py │ │ │ │ └── neus.py │ │ │ ├── ray_samplers.py │ │ │ ├── rays.py │ │ │ ├── renderers.py │ │ │ └── scene_colliders.py │ │ ├── transformer_utils.py │ │ └── unet3d_utils.py │ ├── spa.py │ └── view_transforms │ │ ├── __init__.py │ │ └── lss_voxelformer.py └── spa_pretrain_module.py ├── train.py └── utils ├── __init__.py ├── callbacks.py ├── common_utils.py ├── 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