├── .gitignore ├── README.md ├── configs ├── default_runtime.py ├── scannet-det │ └── scannet-votenet-12xb12.py ├── scanqa │ └── mv-scanqa-pointnetpp-swin-sbert-12xb12.py └── sqa │ └── mv-sqa-pointnetpp-swin-sbert-12xb12.py ├── data └── scannet │ ├── README.md │ ├── batch_load_scannet_data.py │ ├── load_scannet_data.py │ ├── meta_data │ ├── nyu40_labels.csv │ ├── scannet_means.npz │ ├── scannet_reference_means.npz │ ├── scannetv2-labels.combined.tsv │ ├── scannetv2.txt │ ├── scannetv2_test.txt │ ├── scannetv2_train.txt │ └── scannetv2_val.txt │ ├── model_util_scannet.py │ ├── scannet_utils.py │ └── visualize.py ├── docs ├── DSPNet.png ├── dataset.md └── installation.md ├── embodiedqa ├── converter │ ├── create_scannetv2_info_pkl.py │ └── generate_image_scannetv2.py ├── datasets │ ├── __init__.py │ ├── mv_scannet_dataset.py │ ├── mv_scanqa_dataset.py │ ├── mv_sqa_dataset.py │ └── transforms │ │ ├── __init__.py │ │ ├── augmentation.py │ │ ├── formatting.py │ │ ├── loading.py │ │ ├── multiview.py │ │ └── points.py ├── engine │ ├── __init__.py │ └── hooks │ │ ├── __init__.py │ │ └── ema_hook.py ├── eval │ ├── __init__.py │ ├── indoor_eval.py │ ├── metrics │ │ ├── __init__.py │ │ ├── det_metric.py │ │ ├── scanqa_metric.py │ │ ├── sqa_metric.py │ │ └── utils │ │ │ ├── bleu │ │ │ ├── .gitignore │ │ │ ├── __init__.py │ │ │ ├── bleu.py │ │ │ └── bleu_scorer.py │ │ │ ├── cider │ │ │ ├── cider.py │ │ │ └── cider_scorer.py │ │ │ ├── meteor │ │ │ ├── .gitignore │ │ │ ├── __init__.py │ │ │ ├── meteor-1.5.jar │ │ │ └── meteor.py │ │ │ └── rouge │ │ │ ├── .gitignore │ │ │ ├── __init__.py │ │ │ └── rouge.py │ └── mv_3dqa_offline_eval.py ├── explorer.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── PCM │ │ │ ├── PCM.py │ │ │ ├── PCM_utils.py │ │ │ ├── PointMLP_layers.py │ │ │ ├── __init__.py │ │ │ ├── causal-conv1d │ │ │ │ ├── AUTHORS │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── causal_conv1d │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── causal_conv1d_interface.py │ │ │ │ ├── csrc │ │ │ │ │ ├── causal_conv1d.cpp │ │ │ │ │ ├── causal_conv1d.h │ │ │ │ │ ├── causal_conv1d_bwd.cu │ │ │ │ │ ├── causal_conv1d_common.h │ │ │ │ │ ├── causal_conv1d_fwd.cu │ │ │ │ │ ├── causal_conv1d_update.cu │ │ │ │ │ └── static_switch.h │ │ │ │ ├── setup.py │ │ │ │ └── tests │ │ │ │ │ └── test_causal_conv1d.py │ │ │ ├── cpp │ │ │ │ └── pointnet2_batch │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── dist │ │ │ │ │ ├── pointnet2_cuda-0.0.0-py3.10-linux-x86_64.egg │ │ │ │ │ └── pointnet2_cuda-0.0.0-py3.9-linux-x86_64.egg │ │ │ │ │ ├── setup.py │ │ │ │ │ └── src │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ │ ├── ball_query_gpu.h │ │ │ │ │ ├── cuda_utils.h │ │ │ │ │ ├── group_points.cpp │ │ │ │ │ ├── group_points_gpu.cu │ │ │ │ │ ├── group_points_gpu.h │ │ │ │ │ ├── interpolate.cpp │ │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ │ ├── interpolate_gpu.h │ │ │ │ │ ├── pointnet2_api.cpp │ │ │ │ │ ├── sampling.cpp │ │ │ │ │ ├── sampling_gpu.cu │ │ │ │ │ └── sampling_gpu.h │ │ │ ├── hilbert.py │ │ │ ├── layers │ │ │ │ ├── __init__.py │ │ │ │ ├── subsample.py │ │ │ │ └── upsampling.py │ │ │ ├── mamba │ │ │ │ ├── .gitmodules │ │ │ │ ├── AUTHORS │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── assets │ │ │ │ │ └── selection.png │ │ │ │ ├── benchmarks │ │ │ │ │ └── benchmark_generation_mamba_simple.py │ │ │ │ ├── csrc │ │ │ │ │ └── selective_scan │ │ │ │ │ │ ├── reverse_scan.cuh │ │ │ │ │ │ ├── selective_scan.cpp │ │ │ │ │ │ ├── selective_scan.h │ │ │ │ │ │ ├── selective_scan_bwd_bf16_complex.cu │ │ │ │ │ │ ├── selective_scan_bwd_bf16_real.cu │ │ │ │ │ │ ├── selective_scan_bwd_fp16_complex.cu │ │ │ │ │ │ ├── selective_scan_bwd_fp16_real.cu │ │ │ │ │ │ ├── selective_scan_bwd_fp32_complex.cu │ │ │ │ │ │ ├── selective_scan_bwd_fp32_real.cu │ │ │ │ │ │ ├── selective_scan_bwd_kernel.cuh │ │ │ │ │ │ ├── selective_scan_common.h │ │ │ │ │ │ ├── selective_scan_fwd_bf16.cu │ │ │ │ │ │ ├── selective_scan_fwd_fp16.cu │ │ │ │ │ │ ├── selective_scan_fwd_fp32.cu │ │ │ │ │ │ ├── selective_scan_fwd_kernel.cuh │ │ │ │ │ │ ├── static_switch.h │ │ │ │ │ │ └── uninitialized_copy.cuh │ │ │ │ ├── evals │ │ │ │ │ └── lm_harness_eval.py │ │ │ │ ├── mamba_ssm │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── models │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── mixer_seq_simple.py │ │ │ │ │ ├── modules │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── mamba_simple.py │ │ │ │ │ ├── ops │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── selective_scan_interface.py │ │ │ │ │ │ └── triton │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── layernorm.py │ │ │ │ │ │ │ └── selective_state_update.py │ │ │ │ │ └── utils │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── generation.py │ │ │ │ │ │ └── hf.py │ │ │ │ ├── setup.py │ │ │ │ ├── test_mamba_module.py │ │ │ │ └── tests │ │ │ │ │ └── ops │ │ │ │ │ ├── test_selective_scan.py │ │ │ │ │ └── triton │ │ │ │ │ └── test_selective_state_update.py │ │ │ ├── mamba_layer.py │ │ │ ├── serialization.py │ │ │ └── z_order.py │ │ ├── __init__.py │ │ ├── base_pointnet.py │ │ ├── hf_blip.py │ │ ├── hf_clip.py │ │ ├── hf_flava.py │ │ ├── hf_segformer.py │ │ ├── hf_swin.py │ │ ├── hf_text_model.py │ │ ├── hf_vit.py │ │ ├── mink_resnet.py │ │ ├── pointnet2_sa_ssg.py │ │ ├── pointnext │ │ │ ├── __init__.py │ │ │ ├── cpp │ │ │ │ └── pointnet2_batch │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── dist │ │ │ │ │ ├── pointnet2_cuda-0.0.0-py3.10-linux-x86_64.egg │ │ │ │ │ └── pointnet2_cuda-0.0.0-py3.9-linux-x86_64.egg │ │ │ │ │ ├── setup.py │ │ │ │ │ └── src │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ │ ├── ball_query_gpu.h │ │ │ │ │ ├── cuda_utils.h │ │ │ │ │ ├── group_points.cpp │ │ │ │ │ ├── group_points_gpu.cu │ │ │ │ │ ├── group_points_gpu.h │ │ │ │ │ ├── interpolate.cpp │ │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ │ ├── interpolate_gpu.h │ │ │ │ │ ├── pointnet2_api.cpp │ │ │ │ │ ├── sampling.cpp │ │ │ │ │ ├── sampling_gpu.cu │ │ │ │ │ └── sampling_gpu.h │ │ │ ├── layers │ │ │ │ ├── __init__.py │ │ │ │ ├── activation.py │ │ │ │ ├── conv.py │ │ │ │ ├── group.py │ │ │ │ ├── local_aggregation.py │ │ │ │ ├── norm.py │ │ │ │ ├── subsample.py │ │ │ │ └── upsampling.py │ │ │ └── pointnext.py │ │ └── resnet.py │ ├── common │ │ ├── __init__.py │ │ └── base_block.py │ ├── data_preprocessors │ │ ├── __init__.py │ │ ├── data_preprocessor.py │ │ ├── utils.py │ │ └── voxelize.py │ ├── framework │ │ ├── __init__.py │ │ ├── mv_single_stage_det.py │ │ ├── mv_vlm_base_qa.py │ │ └── vision_fusion.py │ ├── heads │ │ ├── __init__.py │ │ ├── base_conv_bbox_head.py │ │ ├── qa_head.py │ │ ├── ref_cls_head.py │ │ ├── ref_loc_head.py │ │ ├── situation_predict_head.py │ │ └── vote_head.py │ ├── layers │ │ ├── __init__.py │ │ ├── box3d_nms.py │ │ ├── fusion_layers │ │ │ ├── __init__.py │ │ │ ├── point_fusion.py │ │ │ └── unified_fusion_model.py │ │ ├── paconv │ │ │ ├── __init__.py │ │ │ ├── paconv.py │ │ │ └── utils.py │ │ ├── pointnet_modules │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── paconv_sa_module.py │ │ │ ├── point_fp_module.py │ │ │ ├── point_sa_module.py │ │ │ └── stack_point_sa_module.py │ │ └── vote_module.py │ ├── losses │ │ ├── __init__.py │ │ ├── axis_aligned_iou_loss.py │ │ ├── chamfer_distance.py │ │ ├── match_cost.py │ │ ├── occ_loss.py │ │ ├── reduce_loss.py │ │ └── rotated_iou_loss.py │ ├── necks │ │ ├── __init__.py │ │ ├── channel_mapper.py │ │ ├── imvoxel_neck.py │ │ └── mink_neck.py │ └── task_modules │ │ ├── __init__.py │ │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ │ ├── assigners │ │ ├── __init__.py │ │ └── hungarian_assigner.py │ │ └── coders │ │ ├── __init__.py │ │ ├── groupfree3d_bbox_coder.py │ │ └── partial_bin_based_bbox_coder.py ├── registry.py ├── structures │ ├── __init__.py │ ├── bbox_3d │ │ ├── __init__.py │ │ ├── base_box3d.py │ │ ├── box_3d_mode.py │ │ ├── coord_3d_mode.py │ │ ├── depth_box3d.py │ │ ├── euler_box3d.py │ │ ├── euler_depth_box3d.py │ │ └── utils.py │ ├── det3d_data_sample.py │ ├── ops │ │ ├── __init__.py │ │ ├── box_np_ops.py │ │ ├── iou3d_calculator.py │ │ └── transforms.py │ ├── point_data.py │ └── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py ├── utils │ ├── __init__.py │ ├── array_converter.py │ ├── default_color_map.py │ ├── dist_utils.py │ ├── line_mesh.py │ └── typing_config.py └── visualization │ ├── __init__.py │ ├── color_selector.py │ ├── continuous_drawer.py │ ├── default_color_map.py │ ├── full_color_map.txt │ ├── img_drawer.py │ ├── line_mesh.py │ ├── rgbd2pointclounds_backproject.py │ └── utils.py ├── install.py ├── requirements ├── base.txt ├── run.txt └── visual.txt ├── setup.py ├── tools ├── mv-scanqa.sh ├── mv-sqa.sh ├── run.sh ├── scannet-det.sh ├── test.py ├── test.sh └── train.py └── work_dirs ├── mv-scanqa └── mv-scanqa-pointnetpp-swin-sbert-12xb12 │ ├── test_results.json │ ├── test_results_wobj.json │ └── test_results_woobj.json └── mv-sqa └── mv-sqa-pointnetpp-swin-sbert-12xb12 └── 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