├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── data ├── kitti │ └── ImageSets │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt ├── lyft │ └── ImageSets │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt ├── once │ └── ImageSets │ │ ├── raw_large.txt │ │ ├── raw_medium.txt │ │ ├── raw_small.txt │ │ ├── region_type.txt │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt └── waymo │ └── ImageSets │ ├── train.txt │ └── val.txt ├── docker ├── Dockerfile └── README.md ├── docs ├── 3DTrans_module_relation.png ├── 3dtrans.png ├── GETTING_STARTED_3DTrans.md ├── GETTING_STARTED_ADA.md ├── GETTING_STARTED_DB.md ├── GETTING_STARTED_MDF.md ├── GETTING_STARTED_PRETRAIN.md ├── GETTING_STARTED_PRETRAIN_PC.md ├── GETTING_STARTED_ReSim.md ├── GETTING_STARTED_SSDA.md ├── GETTING_STARTED_UDA.md ├── INSTALL.md ├── ONCE_AUTO_LABELING.md ├── QUICK_SEQUENCE_DEMO.md ├── SN.png ├── SPOT.png ├── STATISTICAL_RESULTS.md ├── knw_statistics.png ├── seq_demo_nusc.gif ├── seq_demo_once.gif ├── seq_demo_waymo_bev.gif ├── seq_demo_waymo_fp.gif └── sequence_demo.gif ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── __init__.py │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ ├── database_sampler.py │ │ ├── ssl_data_augmentor.py │ │ └── ssl_database_sampler.py │ ├── dataset.py │ ├── kitti │ │ ├── __init__.py │ │ ├── kitti_dataset.py │ │ ├── kitti_dataset_ada.py │ │ ├── kitti_eval.py │ │ ├── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ │ ├── kitti_semi_dataset.py │ │ └── kitti_utils.py │ ├── lyft │ │ ├── __init__.py │ │ ├── lyft_dataset.py │ │ ├── lyft_dataset_ada.py │ │ ├── lyft_mAP_eval │ │ │ ├── __init__.py │ │ │ └── lyft_eval.py │ │ └── lyft_utils.py │ ├── nuscenes │ │ ├── __init__.py │ │ ├── nuscenes_dataset.py │ │ ├── nuscenes_dataset_ada.py │ │ ├── nuscenes_semi_dataset.py │ │ └── nuscenes_utils.py │ ├── once │ │ ├── __init__.py │ │ ├── once_dataset.py │ │ ├── once_dataset_ada.py │ │ ├── once_dataset_pretrain.py │ │ ├── once_eval │ │ │ ├── eval_utils.py │ │ │ ├── evaluation.py │ │ │ └── iou_utils.py │ │ ├── once_semi_dataset.py │ │ ├── once_target_dataset.py │ │ └── once_toolkits.py │ ├── pandaset │ │ ├── __init__.py │ │ └── pandaset_dataset.py │ ├── processor │ │ ├── __init__.py │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ ├── semi_dataset.py │ └── waymo │ │ ├── __init__.py │ │ ├── waymo_dataset.py │ │ ├── waymo_dataset_ada.py │ │ ├── waymo_eval.py │ │ └── waymo_utils.py ├── models │ ├── __init__.py │ ├── active_models │ │ ├── __init__.py │ │ ├── discriminator.py │ │ └── discriminator_from_bev.py │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── base_bev_backbone.py │ │ └── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── conv2d_collapse.py │ │ │ ├── height_compression.py │ │ │ └── pointpillar_scatter.py │ ├── backbones_3d │ │ ├── IASSD_backbone.py │ │ ├── __init__.py │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ ├── point_t_trans.py │ │ │ ├── unet_scn.py │ │ │ └── voxel_set_abstraction.py │ │ ├── pointnet2_backbone.py │ │ ├── spconv_backbone.py │ │ ├── spconv_backbone_unibn.py │ │ ├── spconv_unet.py │ │ └── vfe │ │ │ ├── __init__.py │ │ │ ├── dynamic_mean_vfe.py │ │ │ ├── dynamic_pillar_vfe.py │ │ │ ├── image_vfe.py │ │ │ ├── image_vfe_modules │ │ │ ├── __init__.py │ │ │ ├── f2v │ │ │ │ ├── __init__.py │ │ │ │ ├── frustum_grid_generator.py │ │ │ │ ├── frustum_to_voxel.py │ │ │ │ └── sampler.py │ │ │ └── ffn │ │ │ │ ├── __init__.py │ │ │ │ ├── ddn │ │ │ │ ├── __init__.py │ │ │ │ ├── ddn_deeplabv3.py │ │ │ │ └── ddn_template.py │ │ │ │ ├── ddn_loss │ │ │ │ ├── __init__.py │ │ │ │ ├── balancer.py │ │ │ │ └── ddn_loss.py │ │ │ │ └── depth_ffn.py │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ └── vfe_template.py │ ├── dense_heads │ │ ├── IASSD_head.py │ │ ├── __init__.py │ │ ├── anchor_head_multi.py │ │ ├── anchor_head_pretrain.py │ │ ├── anchor_head_semi.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.py │ │ ├── center_head.py │ │ ├── center_head_semi.py │ │ ├── point_head_box.py │ │ ├── point_head_semi.py │ │ ├── point_head_simple.py │ │ ├── point_head_template.py │ │ ├── point_intra_part_head.py │ │ └── target_assigner │ │ │ ├── __init__.py │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ └── axis_aligned_target_assigner.py │ ├── detectors │ │ ├── IASSD.py │ │ ├── PartA2_net.py │ │ ├── __init__.py │ │ ├── caddn.py │ │ ├── centerpoint.py │ │ ├── detector3d_template.py │ │ ├── detector3d_template_IASSD.py │ │ ├── detector3d_template_ada.py │ │ ├── detector3d_template_multi_db.py │ │ ├── detector3d_template_multi_db_3.py │ │ ├── point_rcnn.py │ │ ├── pointpillar.py │ │ ├── pv_rcnn.py │ │ ├── pv_rcnn_plusplus.py │ │ ├── second_net.py │ │ ├── second_net_iou.py │ │ ├── semi_second.py │ │ ├── unsupervised_model │ │ │ └── pvrcnn_plus_backbone.py │ │ └── voxel_rcnn.py │ ├── mdf_models │ │ ├── __init__.py │ │ ├── dense_2d_moe_add_wo_SE.py │ │ ├── dense_2d_moe_add_wo_attention.py │ │ ├── dense_3d_cr.py │ │ └── dense_cr.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── basic_block_2d.py │ │ ├── centernet_utils.py │ │ ├── ensemble.py │ │ ├── model_nms_utils.py │ │ └── wbf_3d.py │ └── roi_heads │ │ ├── __init__.py │ │ ├── partA2_head.py │ │ ├── pointrcnn_head.py │ │ ├── pvrcnn_head.py │ │ ├── pvrcnn_head_MoE.py │ │ ├── pvrcnn_head_semi.py │ │ ├── roi_head_template.py │ │ ├── second_head.py │ │ ├── target_assigner │ │ ├── __init__.py │ │ └── proposal_target_layer.py │ │ └── voxelrcnn_head.py ├── ops │ ├── __init__.py │ ├── iou3d_nms │ │ ├── __init__.py │ │ ├── iou3d_nms_utils.py │ │ └── src │ │ │ ├── iou3d_cpu.cpp │ │ │ ├── iou3d_cpu.h │ │ │ ├── iou3d_nms.cpp │ │ │ ├── iou3d_nms.h │ │ │ ├── iou3d_nms_api.cpp │ │ │ └── iou3d_nms_kernel.cu │ ├── pointnet2 │ │ ├── __init__.py │ │ ├── pointnet2_batch │ │ │ ├── __init__.py │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.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 │ │ └── pointnet2_stack │ │ │ ├── __init__.py │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.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 │ │ │ ├── vector_pool.cpp │ │ │ ├── vector_pool_gpu.cu │ │ │ ├── vector_pool_gpu.h │ │ │ ├── voxel_query.cpp │ │ │ ├── voxel_query_gpu.cu │ │ │ └── voxel_query_gpu.h │ │ │ ├── voxel_pool_modules.py │ │ │ └── voxel_query_utils.py │ ├── roiaware_pool3d │ │ ├── __init__.py │ │ ├── roiaware_pool3d_utils.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── roipoint_pool3d │ │ ├── __init__.py │ │ ├── roipoint_pool3d_utils.py │ │ └── src │ │ ├── roipoint_pool3d.cpp │ │ └── roipoint_pool3d_kernel.cu └── utils │ ├── __init__.py │ ├── active_learning_2D_utils.py │ ├── active_learning_utils.py │ ├── box_coder_utils.py │ ├── box_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── commu_utils.py │ ├── downsample_utils.py │ ├── loss_utils.py │ ├── memory_ensemble_utils.py │ ├── object3d_kitti.py │ ├── self_training_utils.py │ ├── spconv_utils.py │ ├── transform_utils.py │ ├── uni3d_norm.py │ ├── uni3d_norm_2_in.py │ └── uni3d_norm_parallel.py ├── requirements.txt ├── setup.cfg ├── setup.py └── tools ├── _init_path.py ├── cfgs ├── ADA │ ├── nuscenes-kitti │ │ ├── pvrcnn │ │ │ ├── active_CLUE.yaml │ │ │ ├── active_TQS.yaml │ │ │ ├── active_dual_target_01.yaml │ │ │ ├── active_dual_target_05.yaml │ │ │ ├── active_dual_target_wosn.yaml │ │ │ ├── active_source.yaml │ │ │ └── active_st3d.yaml │ │ └── voxelrcnn │ │ │ ├── active_CLUE.yaml │ │ │ ├── active_TQS.yaml │ │ │ ├── active_dual_target_01.yaml │ │ │ ├── active_dual_target_05.yaml │ │ │ ├── active_dual_target_wosn.yaml │ │ │ ├── active_source.yaml │ │ │ └── active_source_wosn.yaml │ ├── waymo-kitti │ │ ├── pvrcnn │ │ │ ├── active_CLUE.yaml │ │ │ ├── active_TQS.yaml │ │ │ ├── active_dual_target_01.yaml │ │ │ ├── active_dual_target_05.yaml │ │ │ ├── active_dual_target_wosn.yaml │ │ │ ├── active_source_only.yaml │ │ │ ├── active_source_only_wosn.yaml │ │ │ └── active_st3d.yaml │ │ └── voxelrcnn │ │ │ ├── active_CLUE.yaml │ │ │ ├── active_TQS.yaml │ │ │ ├── active_dual_target_01.yaml │ │ │ ├── active_dual_target_05.yaml │ │ │ ├── active_dual_target_wosn.yaml │ │ │ ├── active_source.yaml │ │ │ └── active_source_wosn.yaml │ ├── waymo-lyft │ │ ├── pvrcnn │ │ │ ├── active_CLUE.yaml │ │ │ ├── active_TQS.yaml │ │ │ ├── active_dual_target_01.yaml │ │ │ ├── active_dual_target_05.yaml │ │ │ ├── active_source.yaml │ │ │ └── source_only.yaml │ │ └── voxelrcnn │ │ │ ├── active_CLUE.yaml │ │ │ ├── active_TQS.yaml │ │ │ ├── active_dual_target_01.yaml │ │ │ ├── active_dual_target_05.yaml │ │ │ └── source_only.yaml │ ├── waymo-nuscenes │ │ ├── pvrcnn │ │ │ ├── active_CLUE.yaml │ │ │ ├── active_TQS.yaml │ │ │ ├── active_dual_target_01.yaml │ │ │ ├── active_dual_target_05.yaml │ │ │ ├── active_source_only.yaml │ │ │ ├── active_source_only_16_beam.yaml │ │ │ ├── active_source_only_32_beam.yaml │ │ │ └── active_target_feat_3_32_beam.yaml │ │ ├── second_iou │ │ │ └── second_iou.yaml │ │ └── voxelrcnn │ │ │ ├── active_CLUE.yaml │ │ │ ├── active_TQS.yaml │ │ │ ├── active_dual_target_01.yaml │ │ │ └── active_dual_target_05.yaml │ └── waymo-once │ │ └── active_source.yaml ├── DA │ ├── nusc_kitti │ │ ├── pv_rcnn_plus_post_SN_feat_3.yaml │ │ ├── pv_rcnn_plus_pre_SN_feat_3.yaml │ │ ├── pvrcnn_post_SN_feat_3.yaml │ │ ├── pvrcnn_pre_SN_feat_3.yaml │ │ ├── source_only │ │ │ ├── pv_rcnn_plus_feat_3_vehi.yaml │ │ │ ├── pv_rcnn_plus_sn_kitti.yaml │ │ │ ├── pvrcnn_old_anchor.yaml │ │ │ ├── pvrcnn_old_anchor_sn_kitti.yaml │ │ │ └── voxel_rcnn_feat_3_vehi.yaml │ │ └── voxel_rcnn_post_SN_feat_3.yaml │ ├── waymo_kitti │ │ ├── pointpillar_1x_pre_SN_feat_3.yaml │ │ ├── pv_rcnn_plus_post_SN_feat_3.yaml │ │ ├── pv_rcnn_plus_pre_SN_feat_3.yaml │ │ ├── pv_rcnn_plus_st3d_feat_3_vehi.yaml │ │ ├── pvrcnn_post_SN_feat_3.yaml │ │ ├── pvrcnn_pre_SN_feat_3.yaml │ │ ├── source_only │ │ │ ├── pointpillar_1x_feat_3_vehi.yaml │ │ │ ├── pv_rcnn_plus_feat_3_vehi_full_train.yaml │ │ │ ├── pv_rcnn_plus_sn_kitti.yaml │ │ │ ├── pvrcnn_feat_3_vehi.yaml │ │ │ ├── pvrcnn_old_anchor.yaml │ │ │ ├── pvrcnn_old_anchor_sn_kitti.yaml │ │ │ ├── voxel_rcnn_feat_3_vehi.yaml │ │ │ ├── voxel_rcnn_sn_kitti.yaml │ │ │ └── voxel_rcnn_waymo_kitti_source_only.yaml │ │ ├── voxel_rcnn_post_SN_feat_3.yaml │ │ └── voxel_rcnn_pre_SN_feat_3.yaml │ └── waymo_nusc │ │ ├── pv_rcnn_plus_feat_3.yaml │ │ ├── pv_rcnn_plus_st3d_feat_3.yaml │ │ ├── pvrcnn_feat_3.yaml │ │ ├── pvrcnn_st3d_feat_3.yaml │ │ ├── source_only │ │ ├── pv_rcnn_plus_feat_3_vehi.yaml │ │ ├── pv_rcnn_plus_feat_3_vehi_full_train.yaml │ │ ├── pv_rcnn_plus_waymo_16_nusc.yaml │ │ ├── pvrcnn_old_anchor_nusc.yaml │ │ ├── pvrcnn_old_anchor_waymo_16_nusc.yaml │ │ ├── pvrcnn_old_anchor_waymo_32_nusc.yaml │ │ ├── voxel_rcnn_waymo_16_nusc.yaml │ │ └── voxel_rcnn_waymo_sn_nus.yaml │ │ └── voxel_rcnn_feat_3.yaml ├── MDF │ ├── KNW │ │ ├── knw_pvplus_feat_3_uni3d.yaml │ │ ├── knw_pvrcnn_feat_3_uni3d.yaml │ │ └── knw_voxel_rcnn_feat_3_uni3d.yaml │ ├── nusc_kitti │ │ ├── multi_db_pvrcnn_feat_3_merged.yaml │ │ ├── multi_db_voxel_rcnn_feat_3_merged.yaml │ │ ├── nusc_kitti_pvrcnn_feat_3_uni3d.yaml │ │ ├── nusc_kitti_voxel_rcnn_feat_3_uni3d.yaml │ │ ├── only_kitti │ │ │ ├── pvrcnn_feat_3_3CLS_gt.yaml │ │ │ └── voxel_rcnn_feat_3_3CLS_gt.yaml │ │ └── only_nusc │ │ │ ├── pvrcnn_feat_3_SWEEP_10_gt.yaml │ │ │ └── voxel_rcnn_feat_3_SWEEP_10_gt.yaml │ └── waymo_nusc │ │ ├── multi_db_pvplus_feat_3_merged.yaml │ │ ├── multi_db_pvrcnn_feat_3_merged.yaml │ │ ├── multi_db_voxel_rcnn_feat_3_merged.yaml │ │ ├── only_nusc │ │ ├── pvrcnn_feat_3_SWEEP_10_gt.yaml │ │ └── voxel_rcnn_feat_3_SWEEP_10_gt.yaml │ │ ├── only_waymo │ │ ├── pvrcnn_feat_3_3CLS_gt.yaml │ │ └── voxel_rcnn_feat_3_3CLS_gt.yaml │ │ ├── waymo_nusc_pvplus_feat_3_domain_attention.yaml │ │ ├── waymo_nusc_pvplus_feat_3_uni3d.yaml │ │ ├── waymo_nusc_pvrcnn_feat_3_domain_attention.yaml │ │ ├── waymo_nusc_pvrcnn_feat_3_uni3d.yaml │ │ ├── waymo_nusc_pvrcnn_resnet_feat_3_uni3d.yaml │ │ ├── waymo_nusc_voxel_rcnn_feat_3_domain_attention.yaml │ │ ├── waymo_nusc_voxel_rcnn_feat_3_uni3d.yaml │ │ ├── waymo_nusc_voxel_rcnn_feat_3_uni3d_add_channel.yaml │ │ └── waymo_nusc_voxel_rcnn_resnet_feat_3_domain_attention.yaml ├── ReSimAD │ ├── kitti │ │ ├── pvrcnn_KITTI_ReSimAD.yaml │ │ └── pvrcnn_plus_KITTI_ReSimAD.yaml │ └── nuscenes │ │ ├── pvrcnn_nuScenes_ReSimAD.yaml │ │ └── pvrcnn_plus_nuScenes_ReSimAD.yaml ├── SSDA │ ├── waymo_kitti │ │ ├── kitti_1%_id_seed2022.npy │ │ ├── kitti_10%_id_seed2022.npy │ │ ├── kitti_5%_id_seed2022.npy │ │ ├── pvplus │ │ │ ├── pvplus_feat_3_vehi_01_finetune.yaml │ │ │ ├── pvplus_feat_3_vehi_01_ps.yaml │ │ │ ├── pvplus_feat_3_vehi_01_sess.yaml │ │ │ ├── pvplus_feat_3_vehi_05_finetune.yaml │ │ │ ├── pvplus_feat_3_vehi_05_ps.yaml │ │ │ ├── pvplus_feat_3_vehi_05_sess.yaml │ │ │ ├── pvplus_feat_3_vehi_10_finetune.yaml │ │ │ ├── pvplus_feat_3_vehi_10_ps.yaml │ │ │ └── pvplus_feat_3_vehi_10_sess.yaml │ │ ├── pvrcnn │ │ │ ├── pvrcnn_feat_3_vehi_01_finetune.yaml │ │ │ ├── pvrcnn_feat_3_vehi_01_ps.yaml │ │ │ ├── pvrcnn_feat_3_vehi_01_sess.yaml │ │ │ ├── pvrcnn_feat_3_vehi_05_finetune.yaml │ │ │ ├── pvrcnn_feat_3_vehi_05_ps.yaml │ │ │ ├── pvrcnn_feat_3_vehi_05_sess.yaml │ │ │ ├── pvrcnn_feat_3_vehi_10_finetune.yaml │ │ │ ├── pvrcnn_feat_3_vehi_10_ps.yaml │ │ │ └── pvrcnn_feat_3_vehi_10_sess.yaml │ │ ├── second │ │ │ ├── second_feat_3_vehi_01_finetune.yaml │ │ │ ├── second_feat_3_vehi_01_ps.yaml │ │ │ ├── second_feat_3_vehi_01_sess.yaml │ │ │ ├── second_feat_3_vehi_05_finetune.yaml │ │ │ ├── second_feat_3_vehi_05_ps.yaml │ │ │ ├── second_feat_3_vehi_05_sess.yaml │ │ │ ├── second_feat_3_vehi_10_finetune.yaml │ │ │ ├── second_feat_3_vehi_10_ps.yaml │ │ │ └── second_feat_3_vehi_10_sess.yaml │ │ └── source_only │ │ │ ├── pvplus_feat_3_vehi.yaml │ │ │ ├── pvrcnn_feat_3_vehi.yaml │ │ │ └── second_feat_3_vehi.yaml │ └── waymo_nusc │ │ ├── nusc_1%_id_seed2022.npy │ │ ├── nusc_10%_id_seed2022.npy │ │ ├── nusc_5%_id_seed2022.npy │ │ ├── pvplus │ │ ├── pvplus_feat_3_vehi_01_finetune.yaml │ │ ├── pvplus_feat_3_vehi_01_ps.yaml │ │ ├── pvplus_feat_3_vehi_01_sess.yaml │ │ ├── pvplus_feat_3_vehi_05_finetune.yaml │ │ ├── pvplus_feat_3_vehi_05_ps.yaml │ │ ├── pvplus_feat_3_vehi_05_sess.yaml │ │ ├── pvplus_feat_3_vehi_10_finetune.yaml │ │ ├── pvplus_feat_3_vehi_10_ps.yaml │ │ └── pvplus_feat_3_vehi_10_sess.yaml │ │ ├── pvrcnn │ │ ├── pvrcnn_feat_3_vehi_01_finetune.yaml │ │ ├── pvrcnn_feat_3_vehi_01_ps.yaml │ │ ├── pvrcnn_feat_3_vehi_01_sess.yaml │ │ ├── pvrcnn_feat_3_vehi_05_finetune.yaml │ │ ├── pvrcnn_feat_3_vehi_05_ps.yaml │ │ ├── pvrcnn_feat_3_vehi_05_sess.yaml │ │ ├── pvrcnn_feat_3_vehi_10_finetune.yaml │ │ ├── pvrcnn_feat_3_vehi_10_ps.yaml │ │ └── pvrcnn_feat_3_vehi_10_sess.yaml │ │ ├── second │ │ ├── second_feat_3_vehi_01_finetune.yaml │ │ ├── second_feat_3_vehi_01_ps.yaml │ │ ├── second_feat_3_vehi_01_sess.yaml │ │ ├── second_feat_3_vehi_05_finetune.yaml │ │ ├── second_feat_3_vehi_05_ps.yaml │ │ ├── second_feat_3_vehi_05_sess.yaml │ │ ├── second_feat_3_vehi_10_finetune.yaml │ │ ├── second_feat_3_vehi_10_ps.yaml │ │ └── second_feat_3_vehi_10_sess.yaml │ │ └── source_only │ │ ├── pvplus_feat_3_vehi.yaml │ │ ├── pvrcnn_feat_3_vehi.yaml │ │ └── second_feat_3_vehi.yaml ├── dataset_configs │ ├── kitti │ │ ├── ADA │ │ │ └── ada_kitti_dataset.yaml │ │ ├── DA │ │ │ ├── da_kitti_ReSimAD_dataset.yaml │ │ │ ├── da_kitti_dataset.yaml │ │ │ ├── da_kitti_dataset_feat_4.yaml │ │ │ └── da_kitti_dataset_gt_D.yaml │ │ ├── MDF │ │ │ ├── da_kitti_dataset_gt_D.yaml │ │ │ ├── da_kitti_dataset_gt_D_ori_range.yaml │ │ │ ├── da_kitti_dataset_gt_D_p.yaml │ │ │ └── da_kitti_dataset_gt_D_p_ori_range.yaml │ │ ├── OD │ │ │ ├── kitti_dataset.yaml │ │ │ └── kitti_dataset_feat_3_gt_D.yaml │ │ └── SEMI │ │ │ └── kitti_semi_dataset.yaml │ ├── lyft │ │ ├── ADA │ │ │ └── ada_lyft_dataset.yaml │ │ └── OD │ │ │ ├── lyft_dataset.yaml │ │ │ └── lyft_dataset_20.yaml │ ├── nuscenes │ │ ├── ADA │ │ │ ├── ada_05_nuscenes_dataset_gt_D.yaml │ │ │ ├── ada_nuscenes_dataset.yaml │ │ │ └── ada_nuscenes_dataset_gt_D.yaml │ │ ├── DA │ │ │ ├── da_nusc_ReSimAD_dataset.yaml │ │ │ ├── da_nuscenes_dataset.yaml │ │ │ ├── da_nuscenes_dataset_feat_4.yaml │ │ │ ├── da_nuscenes_dataset_gt_D.yaml │ │ │ └── da_nuscenes_dataset_gt_D_ori_range.yaml │ │ ├── MDF │ │ │ ├── da_nuscenes_dataset_gt_D.yaml │ │ │ ├── da_nuscenes_dataset_gt_D_ori_range.yaml │ │ │ ├── da_nuscenes_dataset_gt_D_p.yaml │ │ │ └── da_nuscenes_dataset_gt_D_p_ori_range.yaml │ │ ├── OD │ │ │ ├── nuscenes_dataset.yaml │ │ │ ├── nuscenes_dataset_SWEEP_1.yaml │ │ │ └── nuscenes_dataset_feat_3_gt_D.yaml │ │ └── SEMI │ │ │ └── nuscenes_semi_dataset.yaml │ ├── once │ │ ├── ADA │ │ │ ├── ada_once_dataset_vehicle.yaml │ │ │ └── ada_once_dataset_vehicle_gt.yaml │ │ ├── DA │ │ │ ├── da_once_dataset.yaml │ │ │ └── da_once_dataset_vehicle.yaml │ │ ├── OD │ │ │ ├── once_dataset.yaml │ │ │ ├── once_dataset_vehicle.yaml │ │ │ ├── once_dataset_vehicle_unlabeled_M.yaml │ │ │ └── once_dataset_vehicle_unlabeled_S.yaml │ │ ├── PRETRAIN │ │ │ ├── once_ad-pt_ps_large.yaml │ │ │ ├── once_ad-pt_ps_medium.yaml │ │ │ ├── once_ad-pt_ps_small.yaml │ │ │ ├── once_ad-pt_train.yaml │ │ │ └── unsupervised_once_dataset.yaml │ │ └── SEMI │ │ │ ├── once_semi_dataset.yaml │ │ │ └── once_semi_dataset_vehicle.yaml │ ├── pandaset │ │ └── OD │ │ │ └── pandaset_dataset.yaml │ └── waymo │ │ ├── ADA │ │ ├── ada_waymo_dataset_16_beam.yaml │ │ └── ada_waymo_dataset_gt_D.yaml │ │ ├── DA │ │ ├── da_waymo_dataset.yaml │ │ ├── da_waymo_dataset_16_beam.yaml │ │ ├── da_waymo_dataset_32_beam.yaml │ │ ├── da_waymo_dataset_feat_4.yaml │ │ ├── da_waymo_dataset_feat_4_gt_D.yaml │ │ ├── da_waymo_dataset_gt_D.yaml │ │ └── da_waymo_dataset_gt_D_full.yaml │ │ ├── MDF │ │ ├── da_waymo_dataset_gt_D.yaml │ │ ├── da_waymo_dataset_gt_D_full.yaml │ │ └── da_waymo_dataset_gt_D_p.yaml │ │ └── OD │ │ ├── waymo_dataset.yaml │ │ ├── waymo_dataset_03.yaml │ │ ├── waymo_dataset_03_sq.yaml │ │ └── waymo_dataset_feat_3_gt_D.yaml ├── kitti_models │ ├── IA-SSD.yaml │ ├── IA-SSD_vehi.yaml │ ├── centerpoint.yaml │ ├── centerpoint_vehi.yaml │ ├── few-shot │ │ ├── second_20_ft.yaml │ │ └── second_iou_20_ft.yaml │ ├── pv_rcnn.yaml │ ├── pv_rcnn_center_head_feat_3_car.yaml │ ├── pv_rcnn_center_head_feat_3_car_SHIFT.yaml │ ├── pv_rcnn_plus_feat_3_car.yaml │ ├── pv_rcnn_plus_feat_3_car_SHIFT.yaml │ ├── pv_rcnn_plus_feat_4_car.yaml │ ├── pvrcnn_center_head.yaml │ ├── pvrcnn_oracle_feat_4.yaml │ ├── voxel_rcnn_car.yaml │ ├── voxel_rcnn_feat_3_car.yaml │ ├── voxel_rcnn_feat_3_car_SHIFT.yaml │ └── voxel_rcnn_feat_4_car.yaml ├── lyft_models │ ├── cbgs_second-nores_multihead.yaml │ ├── cbgs_second_multihead.yaml │ └── pvrcnn_res_plus_finetune_from_once_center_20.yaml ├── nuscenes_models │ ├── cbgs_dyn_pp_centerpoint.yaml │ ├── cbgs_pp_multihead.yaml │ ├── cbgs_second_multihead.yaml │ ├── cbgs_voxel0075_res3d_centerpoint.yaml │ ├── cbgs_voxel0075_res3d_centerpoint_SWEEP_1.yaml │ ├── cbgs_voxel01_res3d_centerpoint.yaml │ ├── pv_rcnn_center_head_feat_3_car.yaml │ ├── pv_rcnn_center_head_feat_3_car_SHIFT.yaml │ ├── pv_rcnn_center_head_feat_3_car_ori_range.yaml │ ├── pv_rcnn_plus_SWEEP_10.yaml │ ├── pv_rcnn_plus_feat_3_car.yaml │ ├── pv_rcnn_plus_feat_3_car_SHIFT.yaml │ ├── pv_rcnn_plusplus_resnet.yaml │ ├── pvrcnn_center_feat_3.yaml │ ├── pvrcnn_oracle_feat_3.yaml │ ├── pvrcnn_oracle_feat_4.yaml │ ├── voxel_rcnn_SWEEP_10.yaml │ ├── voxel_rcnn_feat_3_3CLS_SWEEP_10_gt.yaml │ ├── voxel_rcnn_feat_3_vehi.yaml │ ├── voxel_rcnn_feat_3_vehi_SHIFT.yaml │ └── voxel_rcnn_feat_3_vehi_ori_range.yaml ├── once_models │ ├── pretrain_models │ │ ├── once_ad-pt_pretrain_large.yaml │ │ ├── once_ad-pt_pretrain_medium.yaml │ │ └── once_ad-pt_pretrain_small.yaml │ ├── semi_learning_models │ │ ├── mt_centerpoint_3CLS_small.yaml │ │ ├── mt_pv_rcnn_plus_anchor_3CLS_small.yaml │ │ ├── ps_centerpoint_3CLS_small.yaml │ │ └── ps_pv_rcnn_plus_anchor_3CLS_small.yaml │ ├── sup_models │ │ ├── centerpoint.yaml │ │ ├── centerpoint_pede_0075.yaml │ │ ├── centerpoints.yaml │ │ ├── pv_rcnn.yaml │ │ ├── pv_rcnn_plus_anchor_3CLS.yaml │ │ └── second.yaml │ └── unsupervised_model │ │ └── pointcontrast_pvrcnn_res_plus_backbone.yaml └── waymo_models │ ├── IA-SSD.yaml │ ├── IA-SSD_vehi.yaml │ ├── centerpoint.yaml │ ├── centerpoint_dyn_pillar_1x.yaml │ ├── centerpoint_pillar_1x.yaml │ ├── centerpoint_without_resnet.yaml │ ├── pointpillar_1x.yaml │ ├── pointpillar_1x_vehi.yaml │ ├── pv_rcnn.yaml │ ├── pv_rcnn_plus_feat_3_vehi.yaml │ ├── pv_rcnn_plus_feat_3_vehi_full_train.yaml │ ├── pv_rcnn_plus_feat_3_vehi_pretrained_m.yaml │ ├── pv_rcnn_plus_feat_4_vehi.yaml │ ├── pv_rcnn_plusplus.yaml │ ├── pv_rcnn_plusplus_resnet.yaml │ ├── pv_rcnn_plusplus_resnet_3%_sq_waymo.yaml │ ├── pv_rcnn_plusplus_resnet_3%waymo.yaml │ ├── pv_rcnn_with_centerhead_rpn.yaml │ ├── pvrcnn_center_feat_3.yaml │ ├── pvrcnn_oracle_feat_3.yaml │ ├── pvrcnn_oracle_feat_4.yaml │ ├── second.yaml │ ├── voxel_rcnn_feat_3_vehi.yaml │ ├── voxel_rcnn_feat_3_vehi_pretrained_m.yaml │ ├── voxel_rcnn_feat_4_vehi.yaml │ └── voxel_rcnn_with_centerhead_dyn_voxel.yaml ├── demo.py ├── eval_utils ├── dataset_statistic_check.py └── eval_utils.py ├── pretrain_utils └── ad_pt_utils.py ├── pseudo_label.py ├── scripts ├── ADA │ ├── dist_train_active.sh │ ├── dist_train_active_CLUE.sh │ ├── dist_train_active_TQS.sh │ ├── dist_train_active_source.sh │ ├── dist_train_active_st3d.sh │ ├── slurm_train_active.sh │ ├── slurm_train_active_CLUE.sh │ ├── slurm_train_active_TQS.sh │ ├── slurm_train_active_source.sh │ └── slurm_train_active_st3d.sh ├── MDF │ ├── dist_test_mdf.sh │ ├── dist_test_mdf_3db.sh │ ├── dist_train_mdf.sh │ ├── dist_train_mdf_3db.sh │ ├── dist_train_multi_db_merge_loss.sh │ ├── slurm_test_mdb_mgpu.sh │ ├── slurm_test_mdb_mgpu_3db.sh │ ├── slurm_train_multi_db.sh │ ├── slurm_train_multi_db_3db.sh │ └── slurm_train_multi_db_merge_loss.sh ├── PRETRAIN │ ├── dist_train_ad-pt.sh │ ├── dist_train_pointcontrast.sh │ ├── slurm_train_ad-pt.sh │ └── slurm_train_pointcontrast.sh ├── SEMI │ ├── dist_test_semi.sh │ ├── dist_train_semi.sh │ ├── slurm_test_semi.sh │ └── slurm_train_semi.sh ├── UDA │ ├── dist_train_uda.sh │ └── slurm_train_uda.sh ├── dist_test.sh ├── dist_train.sh ├── slurm_test_mgpu.sh ├── slurm_test_single.sh ├── slurm_train.sh └── torch_train.sh ├── show_squence_demo ├── demo.py ├── once_data │ └── 000076 │ │ ├── 000076.json │ │ └── lidar_roof │ │ ├── 1616343527200.bin │ │ ├── 1616343527700.bin │ │ └── 1616343528200.bin └── utils │ ├── __init__.py │ ├── base_dataset.py │ ├── components.py │ └── gui.py ├── ssl_utils ├── iou_match_3d.py ├── pseudo_label.py ├── se_ssd.py ├── semi_train_utils.py ├── semi_utils.py └── sess.py ├── test.py ├── test_multi_db.py ├── test_multi_db_3db.py ├── test_multi_db_sim.py ├── test_semi.py ├── tools_utils ├── calibration_kitti.py ├── dataset.py ├── getlist.py ├── merge_labels.py ├── open3d_vis_utils.py ├── random_selectlist.py ├── split_kitti_train.py ├── split_nusc_train.py ├── split_nuscenes_location.py ├── static_kitti.py ├── static_nusc.py ├── static_once.py ├── static_waymo.py └── vis_openmdf.py ├── train.py ├── train_active_CLUE.py ├── train_active_TQS.py ├── train_active_dual_target.py ├── train_active_source.py ├── train_ad-pt.py ├── train_ada.py ├── train_bi3d_st3d.py ├── train_multi_db.py ├── train_multi_db_3db.py ├── train_multi_db_merge_loss.py ├── train_pointcontrast.py ├── train_random.py ├── train_random_target.py ├── train_semi.py ├── train_uda.py ├── train_utils ├── active_with_st3d_utils.py ├── optimization │ ├── __init__.py │ ├── fastai_optim.py │ └── learning_schedules_fastai.py ├── train_active_CLUE.py ├── train_active_TQS.py ├── train_active_source_utils.py ├── train_active_target_utils.py ├── train_active_utils.py ├── train_multi_db_loss_merge.py ├── train_multi_db_utils.py ├── train_multi_db_utils_3cls.py ├── train_pseudo_label_utils.py ├── train_random_utils.py ├── train_semi_utils.py ├── train_st_utils.py └── train_utils.py ├── unsupervised_utils └── pointcontrast_utils.py └── visual_utils ├── open3d_vis_utils.py └── 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