├── .gitignore ├── LICENSE.md ├── README.md ├── data ├── demo │ ├── 000000-color.png │ ├── 000000-depth.png │ ├── 000001-color.png │ ├── 000001-depth.png │ ├── 000002-color.png │ ├── 000002-depth.png │ ├── 000003-color.png │ ├── 000003-depth.png │ ├── 000004-color.png │ ├── 000004-depth.png │ ├── 000005-color.png │ ├── 000005-depth.png │ ├── 000006-color.png │ ├── 000006-depth.png │ ├── 000007-color.png │ ├── 000007-depth.png │ ├── 000008-color.png │ ├── 000008-depth.png │ └── camera_params.json └── pics │ ├── demo_rgbd_add.png │ ├── network.png │ └── unseen_clustering.gif ├── experiments ├── cfgs │ ├── seg_resnet34_8s_embedding_cosine_color_crop_tabletop.yml │ ├── seg_resnet34_8s_embedding_cosine_color_tabletop.yml │ ├── seg_resnet34_8s_embedding_cosine_depth_crop_tabletop.yml │ ├── seg_resnet34_8s_embedding_cosine_depth_tabletop.yml │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_crop_tabletop.yml │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_tabletop.yml │ ├── seg_resnet34_8s_embedding_cosine_rgbd_cat_crop_tabletop.yml │ ├── seg_resnet34_8s_embedding_cosine_rgbd_cat_tabletop.yml │ ├── seg_resnet34_8s_embedding_cosine_rgbd_early_crop_tabletop.yml │ └── seg_resnet34_8s_embedding_cosine_rgbd_early_tabletop.yml └── scripts │ ├── demo_rgbd_add.sh │ ├── ros_seg_rgbd_add_test_segmentation_realsense.sh │ ├── seg_resnet34_8s_embedding_cosine_color_crop_train_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_color_test_images.sh │ ├── seg_resnet34_8s_embedding_cosine_color_test_ocid.sh │ ├── seg_resnet34_8s_embedding_cosine_color_test_osd.sh │ ├── seg_resnet34_8s_embedding_cosine_color_test_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_color_train_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_depth_crop_train_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_depth_test_images.sh │ ├── seg_resnet34_8s_embedding_cosine_depth_test_ocid.sh │ ├── seg_resnet34_8s_embedding_cosine_depth_test_osd.sh │ ├── seg_resnet34_8s_embedding_cosine_depth_test_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_depth_train_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_depth_train_tabletop_continue.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_crop_test_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_crop_train_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_test_images.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_test_npy.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_test_ocid.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_test_osd.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_test_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_train_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_add_train_tabletop_continue.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_cat_crop_train_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_cat_test_images.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_cat_test_ocid.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_cat_test_osd.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_cat_test_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_cat_train_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_cat_train_tabletop_continue.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_early_crop_train_tabletop.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_early_test_images.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_early_test_ocid.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_early_test_osd.sh │ ├── seg_resnet34_8s_embedding_cosine_rgbd_early_train_tabletop.sh │ └── seg_resnet34_8s_embedding_cosine_rgbd_early_train_tabletop_continue.sh ├── lib ├── datasets │ ├── __init__.py │ ├── factory.py │ ├── imdb.py │ ├── ocid_object.py │ ├── osd_object.py │ └── tabletop_object.py ├── fcn │ ├── __init__.py │ ├── config.py │ ├── test_common.py │ ├── test_dataset.py │ ├── test_imageset.py │ └── train.py ├── networks │ ├── SEG.py │ ├── __init__.py │ ├── embedding.py │ ├── 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