├── .gitignore ├── 2D_feature_extraction ├── embedding_projection │ ├── __pycache__ │ │ ├── fusion_util.cpython-39.pyc │ │ ├── models.cpython-39.pyc │ │ └── utils.cpython-39.pyc │ ├── evaluate_complexity.py │ ├── fusion_matterport_AMRADIO.py │ ├── fusion_matterport_amradio.py │ ├── fusion_matterport_dinov2.py │ ├── fusion_matterport_lseg.py │ ├── fusion_matterport_sd.py │ ├── fusion_scannet_AMRADIO.py │ ├── fusion_scannet_dinov2.py │ ├── fusion_scannet_lseg.py │ ├── fusion_scannet_sd.py │ ├── fusion_util.py │ ├── models.py │ ├── modules │ │ ├── __pycache__ │ │ │ ├── lseg_module.cpython-39.pyc │ │ │ ├── lsegmentation_module.cpython-39.pyc │ │ │ ├── videomae.cpython-39.pyc │ │ │ ├── vjepa.cpython-39.pyc │ │ │ └── vjepautils.cpython-39.pyc │ │ ├── data │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── __init__.cpython-39.pyc │ │ │ ├── ade20k_objectInfo150.txt │ │ │ └── adek20k_objectInfo150.txt │ │ ├── lseg_module.py │ │ ├── lsegmentation_module.py │ │ ├── models │ │ │ ├── __pycache__ │ │ │ │ ├── lseg_blocks.cpython-39.pyc │ │ │ │ ├── lseg_net.cpython-39.pyc │ │ │ │ └── lseg_vit.cpython-39.pyc │ │ │ ├── lseg_blocks.py │ │ │ ├── lseg_net.py │ │ │ └── lseg_vit.py │ │ ├── videomae.py │ │ ├── vjepa.py │ │ └── vjepautils.py │ ├── utils.py │ └── video_diffusion │ │ ├── __pycache__ │ │ ├── dift_sd.cpython-39.pyc │ │ └── dift_svd.cpython-39.pyc │ │ ├── dift_sd.py │ │ ├── dift_svd.py │ │ └── dift_t2v.py └── visualize_feature.py ├── CLIP ├── CLIP.png ├── LICENSE ├── MANIFEST.in ├── README.md ├── clip.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ ├── requires.txt │ └── top_level.txt ├── clip │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── clip.cpython-38.pyc │ │ ├── model.cpython-38.pyc │ │ └── simple_tokenizer.cpython-38.pyc │ ├── bpe_simple_vocab_16e6.txt.gz │ ├── clip.py │ ├── model.py │ └── simple_tokenizer.py ├── data │ ├── country211.md │ ├── prompts.md │ ├── rendered-sst2.md │ └── yfcc100m.md ├── hubconf.py ├── model-card.md ├── notebooks │ ├── Interacting_with_CLIP.ipynb │ └── Prompt_Engineering_for_ImageNet.ipynb ├── requirements.txt ├── setup.py └── tests │ └── test_consistency.py ├── LICENSE ├── README.md ├── config_CUA_O3D ├── matterport │ ├── mink.yaml │ ├── mink_ep50.yaml │ ├── ours_lseg.yaml │ ├── ours_lseg_ep20_seg.yaml │ ├── ours_lseg_ep50.yaml │ ├── ours_lseg_ep50_lsegCosine_dinov2L1_SDCosine.yaml │ ├── ours_lseg_pretrained.yaml │ ├── ours_openseg.yaml │ ├── test_160classes.yaml │ ├── test_21classes.yaml │ ├── test_40classes.yaml │ └── test_80classes.yaml ├── nuscenes │ ├── mink_parallel.yaml │ ├── mink_parallel_ep50.yaml │ ├── ours_lseg.yaml │ ├── ours_openseg.yaml │ └── ours_openseg_pretrained.yaml ├── replica │ └── ours_openseg_pretrained.yaml └── scannet │ ├── mink.yaml │ ├── mink_ep50.yaml │ ├── ours_lseg.yaml │ ├── ours_lseg_ep20_seg.yaml │ ├── ours_lseg_ep50.yaml │ ├── ours_lseg_ep50_lsegCosine_dinov2L1_SDCosine.yaml │ ├── ours_lseg_ep50_lsegCosine_dinov2L1_SDCosine_AMRADIOCosine.yaml │ ├── ours_lseg_pretrained.yaml │ ├── ours_openseg.yaml │ ├── ours_openseg_ep50.yaml │ └── ours_openseg_pretrained.yaml ├── dataset ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── augmentation.cpython-38.pyc │ ├── feature_loader.cpython-38.pyc │ ├── feature_loader_test.cpython-38.pyc │ ├── feature_loader_with_dinov2.cpython-38.pyc │ ├── feature_loader_with_dinov2_sd.cpython-38.pyc │ ├── feature_loader_with_dinov2_sd_amradio.cpython-38.pyc │ ├── feature_loader_with_lseg_openseg.cpython-38.pyc │ ├── feature_loader_with_sd.cpython-38.pyc │ ├── feature_loader_with_vjepa.cpython-38.pyc │ ├── label_constants.cpython-38.pyc │ ├── point_loader.cpython-38.pyc │ ├── point_loader_with_dinov2.cpython-38.pyc │ ├── point_loader_with_dinov2_sd.cpython-38.pyc │ ├── point_loader_with_sd.cpython-38.pyc │ ├── point_loader_with_vjepa.cpython-38.pyc │ ├── voxelization_utils.cpython-38.pyc │ └── voxelizer.cpython-38.pyc ├── augmentation.py ├── augmentation_2d.py ├── feature_loader.py ├── feature_loader_test.py ├── feature_loader_with_dinov2.py ├── feature_loader_with_dinov2_sd.py ├── feature_loader_with_dinov2_sd_amradio.py ├── feature_loader_with_lseg_openseg.py ├── feature_loader_with_sd.py ├── label_constants.py ├── matterport │ ├── category_mapping.tsv │ ├── scenes_test.txt │ ├── scenes_train.txt │ └── scenes_val.txt ├── point_loader.py ├── point_loader_lseg_openseg.py ├── point_loader_with_dinov2.py ├── point_loader_with_dinov2_sd.py ├── point_loader_with_sd.py ├── scannet │ ├── download-scannet.py │ ├── scannetv2-labels.combined.tsv │ ├── scannetv2_test.txt │ ├── scannetv2_train.txt │ └── scannetv2_val.txt ├── voxelization_utils.py └── voxelizer.py ├── environment.yml ├── imgs ├── method.png └── overview.png ├── models ├── __pycache__ │ ├── adaptiveWeightLoss.cpython-38.pyc │ ├── disnet.cpython-38.pyc │ ├── disnet_MCDropOut.cpython-38.pyc │ ├── disnet_deep_ensemble.cpython-38.pyc │ ├── disnet_linear_probe.cpython-38.pyc │ ├── disnet_uncertainty.cpython-38.pyc │ ├── disnet_uncertainty_blocks.cpython-38.pyc │ ├── disnet_uncertainty_blocks_embedding.cpython-38.pyc │ ├── disnet_uncertainty_blocks_embedding_url.cpython-38.pyc │ ├── disnet_uncertainty_blocks_url.cpython-38.pyc │ ├── disnet_uncertainty_embedding_url.cpython-38.pyc │ ├── disnet_uncertainty_url.cpython-38.pyc │ ├── disnet_with_amradio.cpython-38.pyc │ ├── disnet_with_dinov2.cpython-38.pyc │ ├── disnet_with_dinov2_SepProbSeg.cpython-38.pyc │ ├── disnet_with_dinov2_adaptiveFN.cpython-38.pyc │ ├── disnet_with_dinov2_projBackLseg.cpython-38.pyc │ ├── disnet_with_dinov2_sd.cpython-38.pyc │ ├── disnet_with_dinov2_sd_CatProbSeg.cpython-38.pyc │ ├── disnet_with_dinov2_sd_CatProbSeg_All.cpython-38.pyc │ ├── disnet_with_dinov2_sd_DINOv2ProbSeg.cpython-38.pyc │ ├── disnet_with_dinov2_sd_LsegProbSeg.cpython-38.pyc │ ├── disnet_with_dinov2_sd_SDProbSeg.cpython-38.pyc │ ├── disnet_with_dinov2_sd_SepProbSeg.cpython-38.pyc │ ├── disnet_with_dinov2_sd_amradio.cpython-38.pyc │ ├── disnet_with_dinov2_sd_fusion.cpython-38.pyc │ ├── disnet_with_lseg_openseg.cpython-38.pyc │ ├── disnet_with_sd.cpython-38.pyc │ ├── disnet_with_sd_SepProbSeg.cpython-38.pyc │ ├── disnet_with_uncertainty_dinov2.cpython-38.pyc │ ├── disnet_with_uncertainty_dinov2_sd.cpython-38.pyc │ ├── disnet_with_uncertainty_dinov2_sd_whole.cpython-38.pyc │ ├── disnet_with_uncertainty_sd.cpython-38.pyc │ ├── disnet_with_vjepa.cpython-38.pyc │ ├── mink_unet.cpython-38.pyc │ ├── mink_unet_MCDropOut.cpython-38.pyc │ ├── mink_unet_deep_ensemble.cpython-38.pyc │ ├── mink_unet_linear_probe.cpython-38.pyc │ ├── mink_unet_uncertainty.cpython-38.pyc │ ├── mink_unet_uncertainty_blocks.cpython-38.pyc │ ├── mink_unet_uncertainty_blocks_embedding.cpython-38.pyc │ ├── mink_unet_uncertainty_blocks_embedding_url.cpython-38.pyc │ ├── mink_unet_uncertainty_blocks_url.cpython-38.pyc │ ├── mink_unet_uncertainty_embedding_url.cpython-38.pyc │ ├── mink_unet_uncertainty_url.cpython-38.pyc │ ├── mink_unet_with_amradio.cpython-38.pyc │ ├── mink_unet_with_dinov2.cpython-38.pyc │ ├── mink_unet_with_dinov2_SepProbSeg.cpython-38.pyc │ ├── mink_unet_with_dinov2_adaptiveFN.cpython-38.pyc │ ├── mink_unet_with_dinov2_projBackLseg.cpython-38.pyc │ ├── mink_unet_with_dinov2_sd.cpython-38.pyc │ ├── mink_unet_with_dinov2_sd_CatProbSeg.cpython-38.pyc │ ├── mink_unet_with_dinov2_sd_CatProbSeg_All.cpython-38.pyc │ ├── mink_unet_with_dinov2_sd_DINOv22ProbSeg.cpython-38.pyc │ ├── mink_unet_with_dinov2_sd_LsegProbSeg.cpython-38.pyc │ ├── mink_unet_with_dinov2_sd_SDProbSeg.cpython-38.pyc │ ├── mink_unet_with_dinov2_sd_SepProbSeg.cpython-38.pyc │ ├── mink_unet_with_dinov2_sd_amradio.cpython-38.pyc │ ├── mink_unet_with_dinov2_sd_fusion.cpython-38.pyc │ ├── mink_unet_with_lseg_openseg.cpython-38.pyc │ ├── mink_unet_with_sd.cpython-38.pyc │ ├── mink_unet_with_sd_SepProbSeg.cpython-38.pyc │ ├── mink_unet_with_uncertainty_dinov2.cpython-38.pyc │ ├── mink_unet_with_uncertainty_dinov2_sd.cpython-38.pyc │ ├── mink_unet_with_uncertainty_sd.cpython-38.pyc │ ├── mink_unet_with_vjepa.cpython-38.pyc │ ├── prueautoWeightLoss.cpython-38.pyc │ └── resnet_base.cpython-38.pyc ├── adaptiveWeightLoss.py ├── autoWeightLoss.py ├── disnet.py ├── disnet_linear_probe.py ├── disnet_with_amradio.py ├── disnet_with_dinov2.py ├── disnet_with_dinov2_SepProbSeg.py ├── disnet_with_dinov2_sd.py ├── disnet_with_dinov2_sd_CatProbSeg.py ├── disnet_with_dinov2_sd_CatProbSeg_All.py ├── disnet_with_dinov2_sd_DINOv2ProbSeg.py ├── disnet_with_dinov2_sd_LsegProbSeg.py ├── disnet_with_dinov2_sd_SDProbSeg.py ├── disnet_with_dinov2_sd_SepProbSeg.py ├── disnet_with_dinov2_sd_amradio.py ├── disnet_with_lseg_openseg.py ├── disnet_with_sd.py ├── disnet_with_sd_SepProbSeg.py ├── mink_unet.py ├── mink_unet_linear_probe.py ├── mink_unet_with_amradio.py ├── mink_unet_with_dinov2.py ├── mink_unet_with_dinov2_SepProbSeg.py ├── mink_unet_with_dinov2_sd.py ├── mink_unet_with_dinov2_sd_CatProbSeg.py ├── mink_unet_with_dinov2_sd_CatProbSeg_All.py ├── mink_unet_with_dinov2_sd_DINOv22ProbSeg.py ├── mink_unet_with_dinov2_sd_LsegProbSeg.py ├── mink_unet_with_dinov2_sd_SDProbSeg.py ├── mink_unet_with_dinov2_sd_SepProbSeg.py ├── mink_unet_with_dinov2_sd_amradio.py ├── mink_unet_with_lseg_openseg.py ├── mink_unet_with_sd.py ├── mink_unet_with_sd_SepProbSeg.py ├── prueautoWeightLoss.py └── resnet_base.py ├── requirements.txt ├── run ├── __pycache__ │ ├── baseline_prob_seg.cpython-38.pyc │ ├── distill.cpython-38.pyc │ ├── distill_cat_prob_seg.cpython-38.pyc │ ├── distill_cat_prob_seg_all.cpython-38.pyc │ ├── distill_sep_prob_seg.cpython-38.pyc │ ├── distill_sep_prob_seg_DINOv2.cpython-38.pyc │ ├── distill_sep_prob_seg_Lseg.cpython-38.pyc │ ├── distill_sep_prob_seg_SD.cpython-38.pyc │ ├── distill_uncertainty.cpython-38.pyc │ ├── distill_uncertainty_with_EMA_v2_dinov2.cpython-38.pyc │ ├── distill_uncertainty_with_EMA_v2_dinov2_sd.cpython-38.pyc │ ├── distill_uncertainty_with_EMA_v2_sd.cpython-38.pyc │ ├── distill_with_amradio.cpython-38.pyc │ ├── distill_with_dinov2.cpython-38.pyc │ ├── distill_with_dinov2_sd.cpython-38.pyc │ ├── distill_with_dinov2_sd_amradio.cpython-38.pyc │ ├── distill_with_dinov2_sd_demean.cpython-38.pyc │ ├── distill_with_lseg_openseg.cpython-38.pyc │ ├── distill_with_sd.cpython-38.pyc │ ├── distill_with_vjepa.cpython-38.pyc │ └── train_mink.cpython-38.pyc ├── baseline_prob_seg.py ├── baseline_prob_seg.sh ├── distill.py ├── distill.sh ├── distill_cat_prob_seg.py ├── distill_cat_prob_seg.sh ├── distill_cat_prob_seg_all.py ├── distill_cat_prob_seg_all.sh ├── distill_sep_prob_seg.py ├── distill_sep_prob_seg.sh ├── distill_sep_prob_seg_DINOv2.py ├── distill_sep_prob_seg_DINOv2.sh ├── distill_sep_prob_seg_Lseg.py ├── distill_sep_prob_seg_Lseg.sh ├── distill_sep_prob_seg_SD.py ├── distill_sep_prob_seg_SD.sh ├── distill_sep_prob_seg_with_DINOV2_Only.py ├── distill_sep_prob_seg_with_DINOV2_Only.sh ├── distill_sep_prob_seg_with_DINOV2_Only_DINOV2Seg.py ├── distill_sep_prob_seg_with_DINOV2_Only_DINOV2Seg.sh ├── distill_sep_prob_seg_with_DINOV2_Only_LSeg.py ├── distill_sep_prob_seg_with_DINOV2_Only_LSeg.sh ├── distill_sep_prob_seg_with_SD_Only.py ├── distill_sep_prob_seg_with_SD_Only.sh ├── distill_sep_prob_seg_with_SD_Only_LSeg.py ├── distill_sep_prob_seg_with_SD_Only_LSeg.sh ├── distill_sep_prob_seg_with_SD_Only_SDSeg.py ├── distill_sep_prob_seg_with_SD_Only_SDSeg.sh ├── distill_with_dinov2_sd_adaptiveWeightLoss.py ├── distill_with_dinov2_sd_adaptiveWeightLoss.sh ├── distill_with_dinov2_sd_adaptiveWeightLoss_demean.py ├── distill_with_dinov2_sd_adaptiveWeightLoss_demean.sh ├── distill_with_dinov2_sd_amradio.py ├── distill_with_dinov2_sd_amradio.sh ├── distill_with_dinov2_sd_amradio_AdaptiveWeighting.py ├── distill_with_dinov2_sd_amradio_AdaptiveWeighting.sh ├── distill_with_dinov2_sd_demean.py ├── distill_with_dinov2_sd_demean.sh ├── distill_with_dinov2_sd_prueadaptiveWeightLoss.py ├── distill_with_dinov2_sd_prueadaptiveWeightLoss.sh ├── distill_with_lseg_openseg.py ├── distill_with_lseg_openseg.sh ├── distill_with_sd_adaptiveWeightLoss.py ├── distill_with_sd_adaptiveWeightLoss.sh ├── eval.sh ├── eval_baseline_probe.sh ├── eval_mink.py ├── eval_mink.sh ├── eval_probe.sh ├── eval_uncertainty_with_dinov2_sd.sh ├── eval_with_amradio.sh ├── eval_with_dinov2_sd.sh ├── eval_with_dinov2_sd_amradio.sh ├── eval_with_dinov2_sd_scannet200.sh ├── eval_with_dinov2_sd_test.sh ├── eval_with_lseg_openseg.sh ├── evaluate.py ├── evaluate_baseline_probe.py ├── evaluate_probe.py ├── evaluate_scannet200.py ├── evaluate_with_amradio.py ├── evaluate_with_dinov2.py ├── evaluate_with_dinov2_sd.py ├── evaluate_with_dinov2_sd_amradio.py ├── evaluate_with_dinov2_sd_scannet200.py ├── evaluate_with_dinov2_sd_test.py ├── evaluate_with_lseg_openseg.py ├── evaluate_with_sd.py ├── resume_distill.sh ├── resume_train_mink.sh ├── train_mink.py └── train_mink.sh ├── saved_text_embeddings ├── clip_matterport_labels_512.pt ├── clip_matterport_labels_768.pt ├── clip_scannet_labels_512.pt └── clip_scannet_labels_768.pt ├── scripts ├── download_dataset.sh ├── download_fused_features.sh ├── emuerate_feat_count.py ├── emuerate_feat_statics.py ├── feature_fusion │ ├── README.md │ ├── fusion_util.py │ ├── matterport_openseg.py │ ├── nuscenes_openseg.py │ ├── replica_openseg.py │ ├── scannet_openseg.py │ └── scannet_openseg_sameAsLseg.py └── preprocess │ ├── README.md │ ├── preprocess_2d_matterport.py │ ├── preprocess_2d_nuscenes.py │ ├── preprocess_2d_replica.py │ ├── preprocess_2d_scannet.py │ ├── preprocess_3d_matterport.py │ ├── preprocess_3d_matterport_K_num_classes.py │ ├── preprocess_3d_nuscenes.py │ ├── preprocess_3d_replica.py │ ├── preprocess_3d_scannet.py │ ├── preprocess_util.py │ └── scannet_sensordata.py └── util ├── __pycache__ ├── config.cpython-38.pyc ├── metric.cpython-38.pyc └── util.cpython-38.pyc ├── config.py ├── metric.py ├── uncertainty_metric.py └── util.py 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