├── Hint-UniAD ├── README.md ├── docs │ ├── DATA_PREP.md │ ├── INSTALL.md │ └── TRAIN_EVAL.md ├── environment.yml ├── projects │ ├── configs │ │ ├── _base_ │ │ │ ├── datasets │ │ │ │ └── nus-3d.py │ │ │ └── default_runtime.py │ │ ├── stage1_track_map │ │ │ └── base_track_map.py │ │ ├── stage2_e2e │ │ │ └── base_e2e.py │ │ └── stage3_caption │ │ │ ├── base_caption.py │ │ │ └── base_caption_attention.py │ └── mmdet3d_plugin │ │ ├── __init__.py │ │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ │ ├── core │ │ ├── bbox │ │ │ ├── __pycache__ │ │ │ │ └── util.cpython-38.pyc │ │ │ ├── assigners │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── hungarian_assigner_3d.cpython-38.pyc │ │ │ │ │ └── hungarian_assigner_3d_track.cpython-38.pyc │ │ │ │ ├── hungarian_assigner_3d.py │ │ │ │ └── hungarian_assigner_3d_track.py │ │ │ ├── coders │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── detr3d_track_coder.cpython-38.pyc │ │ │ │ │ └── nms_free_coder.cpython-38.pyc │ │ │ │ ├── detr3d_track_coder.py │ │ │ │ └── nms_free_coder.py │ │ │ ├── match_costs │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ └── match_cost.cpython-38.pyc │ │ │ │ └── match_cost.py │ │ │ └── util.py │ │ └── evaluation │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── eval_hooks.cpython-38.pyc │ │ │ └── eval_hooks.py │ │ ├── datasets │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── builder.cpython-38.pyc │ │ │ └── nuscenes_e2e_dataset.cpython-38.pyc │ │ ├── builder.py │ │ ├── data_utils │ │ │ ├── __pycache__ │ │ │ │ ├── data_utils.cpython-38.pyc │ │ │ │ ├── rasterize.cpython-38.pyc │ │ │ │ ├── trajectory_api.cpython-38.pyc │ │ │ │ └── vector_map.cpython-38.pyc │ │ │ ├── data_utils.py │ │ │ ├── rasterize.py │ │ │ ├── trajectory_api.py │ │ │ └── vector_map.py │ │ ├── eval_utils │ │ │ ├── __pycache__ │ │ │ │ ├── eval_utils.cpython-38.pyc │ │ │ │ ├── map_api.cpython-38.pyc │ │ │ │ ├── metric_utils.cpython-38.pyc │ │ │ │ ├── nuscenes_eval.cpython-38.pyc │ │ │ │ ├── nuscenes_eval_motion.cpython-38.pyc │ │ │ │ └── score_caption.cpython-38.pyc │ │ │ ├── eval_utils.py │ │ │ ├── map_api.py │ │ │ ├── metric_utils.py │ │ │ ├── nuscenes_eval.py │ │ │ ├── nuscenes_eval_motion.py │ │ │ └── score_caption.py │ │ ├── nuscenes_e2e_dataset.py │ │ ├── pipelines │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── caption.cpython-38.pyc │ │ │ │ ├── formating.cpython-38.pyc │ │ │ │ ├── loading.cpython-38.pyc │ │ │ │ ├── occflow_label.cpython-38.pyc │ │ │ │ └── transform_3d.cpython-38.pyc │ │ │ ├── caption.py │ │ │ ├── formating.py │ │ │ ├── loading.py │ │ │ ├── occflow_label.py │ │ │ └── transform_3d.py │ │ └── samplers │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── distributed_sampler.cpython-38.pyc │ │ │ ├── group_sampler.cpython-38.pyc │ │ │ └── sampler.cpython-38.pyc │ │ │ ├── distributed_sampler.py │ │ │ ├── group_sampler.py │ │ │ └── sampler.py │ │ ├── llama │ │ ├── README.md │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-38.pyc │ │ ├── download.sh │ │ ├── llama_adapter │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── llama.cpython-38.pyc │ │ │ │ ├── llama_adapter.cpython-38.pyc │ │ │ │ ├── tokenizer.cpython-38.pyc │ │ │ │ └── utils.cpython-38.pyc │ │ │ ├── llama.py │ │ │ ├── llama_adapter.py │ │ │ ├── tokenizer.py │ │ │ └── utils.py │ │ ├── requirements.txt │ │ ├── tokenizer.model │ │ └── tokenizer_checklist.chk │ │ ├── losses │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── dice_loss.cpython-38.pyc │ │ │ ├── mtp_loss.cpython-38.pyc │ │ │ ├── occflow_loss.cpython-38.pyc │ │ │ ├── planning_loss.cpython-38.pyc │ │ │ ├── track_loss.cpython-38.pyc │ │ │ └── traj_loss.cpython-38.pyc │ │ ├── dice_loss.py │ │ ├── mtp_loss.py │ │ ├── occflow_loss.py │ │ ├── planning_loss.py │ │ ├── track_loss.py │ │ └── traj_loss.py │ │ ├── models │ │ ├── backbones │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── vovnet.cpython-38.pyc │ │ │ └── vovnet.py │ │ ├── hooks │ │ │ ├── __init__.py │ │ │ └── hooks.py │ │ ├── opt │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── adamw.cpython-38.pyc │ │ │ └── adamw.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── bricks.cpython-38.pyc │ │ │ ├── functional.cpython-38.pyc │ │ │ └── grid_mask.cpython-38.pyc │ │ │ ├── bricks.py │ │ │ ├── functional.py │ │ │ └── grid_mask.py │ │ └── uniad │ │ ├── __init__.py │ │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ │ ├── apis │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── mmdet_train.cpython-38.pyc │ │ │ ├── test.cpython-38.pyc │ │ │ └── train.cpython-38.pyc │ │ ├── mmdet_train.py │ │ ├── test.py │ │ └── train.py │ │ ├── dense_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── caption_head.cpython-38.pyc │ │ │ ├── motion_head.cpython-38.pyc │ │ │ ├── occ_head.cpython-38.pyc │ │ │ ├── panseg_head.cpython-38.pyc │ │ │ ├── planning_head.cpython-38.pyc │ │ │ └── track_head.cpython-38.pyc │ │ ├── caption_head.py │ │ ├── caption_head_plugin │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── iou.cpython-38.pyc │ │ │ └── iou.py │ │ ├── motion_head.py │ │ ├── motion_head_plugin │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── base_motion_head.cpython-38.pyc │ │ │ │ ├── modules.cpython-38.pyc │ │ │ │ ├── motion_deformable_attn.cpython-38.pyc │ │ │ │ ├── motion_optimization.cpython-38.pyc │ │ │ │ └── motion_utils.cpython-38.pyc │ │ │ ├── base_motion_head.py │ │ │ ├── modules.py │ │ │ ├── motion_deformable_attn.py │ │ │ ├── motion_optimization.py │ │ │ └── motion_utils.py │ │ ├── occ_head.py │ │ ├── occ_head_plugin │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── metrics.cpython-38.pyc │ │ │ │ ├── modules.cpython-38.pyc │ │ │ │ └── utils.cpython-38.pyc │ │ │ ├── metrics.py │ │ │ ├── modules.py │ │ │ └── utils.py │ │ ├── panseg_head.py │ │ ├── planning_head.py │ │ ├── planning_head_plugin │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── collision_optimization.cpython-38.pyc │ │ │ │ └── planning_metrics.cpython-38.pyc │ │ │ ├── collision_optimization.py │ │ │ └── planning_metrics.py │ │ ├── seg_head_plugin │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── seg_assigner.cpython-38.pyc │ │ │ │ ├── seg_deformable_transformer.cpython-38.pyc │ │ │ │ ├── seg_detr_head.cpython-38.pyc │ │ │ │ ├── seg_mask_head.cpython-38.pyc │ │ │ │ └── seg_utils.cpython-38.pyc │ │ │ ├── seg_assigner.py │ │ │ ├── seg_deformable_transformer.py │ │ │ ├── seg_detr_head.py │ │ │ ├── seg_mask_head.py │ │ │ └── seg_utils.py │ │ ├── track_head.py │ │ └── track_head_plugin │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── modules.cpython-38.pyc │ │ │ ├── track_instance.cpython-38.pyc │ │ │ └── tracker.cpython-38.pyc │ │ │ ├── modules.py │ │ │ ├── track_instance.py │ │ │ └── tracker.py │ │ ├── detectors │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── uniad_e2e.cpython-38.pyc │ │ │ └── uniad_track.cpython-38.pyc │ │ ├── uniad_e2e.py │ │ └── uniad_track.py │ │ ├── hooks │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── custom_hooks.cpython-38.pyc │ │ └── custom_hooks.py │ │ └── modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── custom_base_transformer_layer.cpython-38.pyc │ │ ├── decoder.cpython-38.pyc │ │ ├── encoder.cpython-38.pyc │ │ ├── multi_scale_deformable_attn_function.cpython-38.pyc │ │ ├── spatial_cross_attention.cpython-38.pyc │ │ ├── temporal_self_attention.cpython-38.pyc │ │ └── transformer.cpython-38.pyc │ │ ├── custom_base_transformer_layer.py │ │ ├── decoder.py │ │ ├── encoder.py │ │ ├── multi_scale_deformable_attn_function.py │ │ ├── spatial_cross_attention.py │ │ ├── temporal_self_attention.py │ │ └── transformer.py ├── requirements.txt ├── sources │ ├── legend.png │ ├── sdc_car.png │ └── template.png └── tools │ ├── analysis_tools │ ├── __init__.py │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ ├── analyze_logs.py │ ├── benchmark.py │ └── visualize │ │ ├── __pycache__ │ │ └── utils.cpython-38.pyc │ │ ├── gen_video.py │ │ ├── render │ │ ├── __pycache__ │ │ │ ├── base_render.cpython-38.pyc │ │ │ ├── bev_render.cpython-38.pyc │ │ │ └── cam_render.cpython-38.pyc │ │ ├── base_render.py │ │ ├── bev_render.py │ │ ├── cam_render.py │ │ └── cap_render.py │ │ ├── run.py │ │ └── utils.py │ ├── data_converter │ ├── __init__.py │ ├── add_DriveLM.py │ ├── add_QA.py │ ├── add_caption.py │ ├── add_command.py │ ├── add_tod3.py │ └── uniad_nuscenes_converter.py │ ├── hintad_create_data.sh │ ├── hintad_dist_eval.sh │ ├── hintad_dist_train.sh │ ├── hintad_slurm_eval.sh │ ├── hintad_slurm_train.sh │ ├── hintad_vis_result.sh │ ├── test.py │ └── train.py ├── Hint_VAD ├── README.md ├── docs │ ├── install.md │ ├── prepare_dataset.md │ ├── train_eval.md │ └── visualization.md ├── environment.yml ├── projects │ ├── __init__.py │ ├── configs │ │ ├── VAD │ │ │ ├── VAD_base_caption.py │ │ │ ├── VAD_base_e2e.py │ │ │ ├── VAD_base_stage_1.py │ │ │ ├── VAD_base_stage_2.py │ │ │ ├── VAD_tiny_e2e.py │ │ │ ├── VAD_tiny_stage_1.py │ │ │ └── VAD_tiny_stage_2.py │ │ ├── _base_ │ │ │ ├── datasets │ │ │ │ ├── coco_instance.py │ │ │ │ ├── kitti-3d-3class.py │ │ │ │ ├── kitti-3d-car.py │ │ │ │ ├── lyft-3d.py │ │ │ │ ├── nuim_instance.py │ │ │ │ ├── nus-3d.py │ │ │ │ ├── nus-mono3d.py │ │ │ │ ├── range100_lyft-3d.py │ │ │ │ ├── s3dis-3d-5class.py │ │ │ │ ├── s3dis_seg-3d-13class.py │ │ │ │ ├── scannet-3d-18class.py │ │ │ │ ├── scannet_seg-3d-20class.py │ │ │ │ ├── sunrgbd-3d-10class.py │ │ │ │ ├── waymoD5-3d-3class.py │ │ │ │ └── waymoD5-3d-car.py │ │ │ ├── default_runtime.py │ │ │ ├── models │ │ │ │ ├── 3dssd.py │ │ │ │ ├── cascade_mask_rcnn_r50_fpn.py │ │ │ │ ├── centerpoint_01voxel_second_secfpn_nus.py │ │ │ │ ├── centerpoint_02pillar_second_secfpn_nus.py │ │ │ │ ├── fcos3d.py │ │ │ │ ├── groupfree3d.py │ │ │ │ ├── h3dnet.py │ │ │ │ ├── hv_pointpillars_fpn_lyft.py │ │ │ │ ├── hv_pointpillars_fpn_nus.py │ │ │ │ ├── hv_pointpillars_fpn_range100_lyft.py │ │ │ │ ├── hv_pointpillars_secfpn_kitti.py │ │ │ │ ├── hv_pointpillars_secfpn_waymo.py │ │ │ │ ├── hv_second_secfpn_kitti.py │ │ │ │ ├── hv_second_secfpn_waymo.py │ │ │ │ ├── imvotenet_image.py │ │ │ │ ├── mask_rcnn_r50_fpn.py │ │ │ │ ├── paconv_cuda_ssg.py │ │ │ │ ├── paconv_ssg.py │ │ │ │ ├── parta2.py │ │ │ │ ├── pointnet2_msg.py │ │ │ │ ├── pointnet2_ssg.py │ │ │ │ └── votenet.py │ │ │ └── schedules │ │ │ │ ├── cosine.py │ │ │ │ ├── cyclic_20e.py │ │ │ │ ├── cyclic_40e.py │ │ │ │ ├── mmdet_schedule_1x.py │ │ │ │ ├── schedule_2x.py │ │ │ │ ├── schedule_3x.py │ │ │ │ ├── seg_cosine_150e.py │ │ │ │ ├── seg_cosine_200e.py │ │ │ │ └── seg_cosine_50e.py │ │ └── datasets │ │ │ ├── custom_lyft-3d.py │ │ │ ├── custom_nus-3d.py │ │ │ └── custom_waymo-3d.py │ └── mmdet3d_plugin │ │ ├── VAD │ │ ├── VAD.py │ │ ├── VAD_caption.py │ │ ├── VAD_head.py │ │ ├── VAD_transformer.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── VAD.cpython-38.pyc │ │ │ ├── VAD_caption.cpython-38.pyc │ │ │ ├── VAD_head.cpython-38.pyc │ │ │ ├── VAD_transformer.cpython-38.pyc │ │ │ └── __init__.cpython-38.pyc │ │ ├── apis │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── mmdet_train.cpython-38.pyc │ │ │ │ ├── test.cpython-38.pyc │ │ │ │ └── train.cpython-38.pyc │ │ │ ├── mmdet_train.py │ │ │ ├── test.py │ │ │ └── train.py │ │ ├── hooks │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── custom_hooks.cpython-38.pyc │ │ │ └── custom_hooks.py │ │ ├── modules │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── custom_base_transformer_layer.cpython-38.pyc │ │ │ │ ├── decoder.cpython-38.pyc │ │ │ │ ├── encoder.cpython-38.pyc │ │ │ │ ├── multi_scale_deformable_attn_function.cpython-38.pyc │ │ │ │ ├── spatial_cross_attention.cpython-38.pyc │ │ │ │ ├── temporal_self_attention.cpython-38.pyc │ │ │ │ └── transformer.cpython-38.pyc │ │ │ ├── custom_base_transformer_layer.py │ │ │ ├── decoder.py │ │ │ ├── encoder.py │ │ │ ├── multi_scale_deformable_attn_function.py │ │ │ ├── spatial_cross_attention.py │ │ │ ├── temporal_self_attention.py │ │ │ └── transformer.py │ │ ├── planner │ │ │ ├── __pycache__ │ │ │ │ └── metric_stp3.cpython-38.pyc │ │ │ └── metric_stp3.py │ │ ├── runner │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── epoch_based_runner.cpython-38.pyc │ │ │ └── epoch_based_runner.py │ │ └── utils │ │ │ ├── CD_loss.py │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── CD_loss.cpython-38.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── iou.cpython-38.pyc │ │ │ ├── map_utils.cpython-38.pyc │ │ │ ├── plan_loss.cpython-38.pyc │ │ │ └── traj_lr_warmup.cpython-38.pyc │ │ │ ├── iou.py │ │ │ ├── map_utils.py │ │ │ ├── plan_loss.py │ │ │ └── traj_lr_warmup.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ │ ├── bevformer │ │ ├── __init__.py │ │ ├── apis │ │ │ ├── __init__.py │ │ │ ├── mmdet_train.py │ │ │ ├── test.py │ │ │ └── train.py │ │ ├── dense_heads │ │ │ ├── __init__.py │ │ │ └── bevformer_head.py │ │ ├── detectors │ │ │ ├── __init__.py │ │ │ ├── bevformer.py │ │ │ └── bevformer_fp16.py │ │ ├── hooks │ │ │ ├── __init__.py │ │ │ └── custom_hooks.py │ │ ├── modules │ │ │ ├── __init__.py │ │ │ ├── custom_base_transformer_layer.py │ │ │ ├── decoder.py │ │ │ ├── encoder.py │ │ │ ├── multi_scale_deformable_attn_function.py │ │ │ ├── spatial_cross_attention.py │ │ │ ├── temporal_self_attention.py │ │ │ └── transformer.py │ │ └── runner │ │ │ ├── __init__.py │ │ │ └── epoch_based_runner.py │ │ ├── core │ │ ├── bbox │ │ │ ├── __pycache__ │ │ │ │ └── util.cpython-38.pyc │ │ │ ├── assigners │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── hungarian_assigner_3d.cpython-38.pyc │ │ │ │ │ └── map_hungarian_assigner_3d.cpython-38.pyc │ │ │ │ ├── hungarian_assigner_3d.py │ │ │ │ └── map_hungarian_assigner_3d.py │ │ │ ├── coders │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── fut_nms_free_coder.cpython-38.pyc │ │ │ │ │ ├── map_nms_free_coder.cpython-38.pyc │ │ │ │ │ └── nms_free_coder.cpython-38.pyc │ │ │ │ ├── fut_nms_free_coder.py │ │ │ │ ├── map_nms_free_coder.py │ │ │ │ └── nms_free_coder.py │ │ │ ├── match_costs │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ └── match_cost.cpython-38.pyc │ │ │ │ └── match_cost.py │ │ │ ├── structures │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── lidar_box3d.cpython-38.pyc │ │ │ │ │ └── nuscenes_box.cpython-38.pyc │ │ │ │ ├── lidar_box3d.py │ │ │ │ └── nuscenes_box.py │ │ │ └── util.py │ │ └── evaluation │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── eval_hooks.cpython-38.pyc │ │ │ └── metric_motion.cpython-38.pyc │ │ │ ├── eval_hooks.py │ │ │ ├── kitti2waymo.py │ │ │ └── metric_motion.py │ │ ├── datasets │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── builder.cpython-38.pyc │ │ │ ├── nuscenes_vad_dataset.cpython-38.pyc │ │ │ └── vad_custom_nuscenes_eval.cpython-38.pyc │ │ ├── builder.py │ │ ├── detection_cvpr_2019.json │ │ ├── eval_utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── eval_utils.cpython-38.pyc │ │ │ │ ├── map_api.cpython-38.pyc │ │ │ │ ├── metric_utils.cpython-38.pyc │ │ │ │ ├── nuscenes_eval.cpython-38.pyc │ │ │ │ ├── nuscenes_eval_motion.cpython-38.pyc │ │ │ │ └── score_caption.cpython-38.pyc │ │ │ └── score_caption.py │ │ ├── map_utils │ │ │ ├── __pycache__ │ │ │ │ ├── mean_ap.cpython-38.pyc │ │ │ │ ├── tpfp.cpython-38.pyc │ │ │ │ └── tpfp_chamfer.cpython-38.pyc │ │ │ ├── mean_ap.py │ │ │ ├── tpfp.py │ │ │ └── tpfp_chamfer.py │ │ ├── nuscenes_eval.py │ │ ├── nuscenes_vad_dataset.py │ │ ├── pipelines │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── caption.cpython-38.pyc │ │ │ │ ├── formating.cpython-38.pyc │ │ │ │ ├── loading.cpython-38.pyc │ │ │ │ ├── occflow_label.cpython-38.pyc │ │ │ │ └── transform_3d.cpython-38.pyc │ │ │ ├── caption.py │ │ │ ├── formating.py │ │ │ ├── loading.py │ │ │ └── transform_3d.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── distributed_sampler.cpython-38.pyc │ │ │ │ ├── group_sampler.cpython-38.pyc │ │ │ │ └── sampler.cpython-38.pyc │ │ │ ├── distributed_sampler.py │ │ │ ├── group_sampler.py │ │ │ └── sampler.py │ │ ├── vad_custom_nuscenes_eval.py │ │ └── vad_nusc_detection_cvpr_2019.json │ │ ├── llama │ │ ├── README.md │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-38.pyc │ │ ├── download.sh │ │ ├── llama_adapter │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── llama.cpython-38.pyc │ │ │ │ ├── llama_adapter.cpython-38.pyc │ │ │ │ ├── tokenizer.cpython-38.pyc │ │ │ │ └── utils.cpython-38.pyc │ │ │ ├── llama.py │ │ │ ├── llama_adapter.py │ │ │ ├── llama_adapter_former.py │ │ │ ├── tokenizer.py │ │ │ └── utils.py │ │ ├── requirements.txt │ │ ├── tokenizer.model │ │ └── tokenizer_checklist.chk │ │ └── models │ │ ├── backbones │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── vovnet.cpython-38.pyc │ │ └── vovnet.py │ │ ├── hooks │ │ ├── __init__.py │ │ └── hooks.py │ │ ├── opt │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── adamw.cpython-38.pyc │ │ └── adamw.py │ │ └── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── bricks.cpython-38.pyc │ │ ├── embed.cpython-38.pyc │ │ ├── grid_mask.cpython-38.pyc │ │ ├── position_embedding.cpython-38.pyc │ │ └── visual.cpython-38.pyc │ │ ├── bricks.py │ │ ├── embed.py │ │ ├── grid_mask.py │ │ ├── position_embedding.py │ │ └── visual.py ├── requirements.txt └── tools │ ├── analysis_tools │ ├── __init__.py │ ├── analyze_logs.py │ ├── benchmark.py │ ├── get_flops.py │ ├── get_params.py │ └── visualization.py │ ├── create_data.py │ ├── data_converter │ ├── __init__.py │ ├── add_DriveLM.py │ ├── add_QA.py │ ├── add_caption.py │ ├── add_caption_from_json.py │ ├── add_command.py │ ├── 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