├── assets ├── Main.png ├── demo_gif.gif └── teaser_v4.png ├── config ├── train_embodied_config.py ├── train_embodied_mini_config.py ├── train_mono_config.py ├── train_mono_mini_config.py ├── vis_embodied_config.py └── vis_mono_config.py ├── data ├── occscannet │ ├── test_final.txt │ ├── test_mini_final.txt │ ├── train_final.txt │ └── train_mini_final.txt └── scene_occ │ ├── test_mini_online.txt │ ├── test_online.txt │ ├── train_mini_online.txt │ └── train_online.txt ├── dataset ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── dataset_nusc_occ_openocc.cpython-38.pyc │ ├── dataset_nusc_occ_openocc.nb_process_label-189.py38.1.nbc │ ├── dataset_nusc_occ_openocc.nb_process_label-189.py38.nbi │ ├── dataset_nyu_occ_openocc.cpython-38.pyc │ ├── dataset_scannet_occ_openocc.cpython-38.pyc │ ├── dataset_scannet_online_occ.cpython-38.pyc │ ├── dataset_wrapper_nusc_occ.cpython-38.pyc │ ├── dataset_wrapper_nyu_occ.cpython-38.pyc │ ├── dataset_wrapper_scannet_occ.cpython-38.pyc │ ├── dataset_wrapper_scannet_online.cpython-38.pyc │ ├── nyu_fusion.cpython-310.pyc │ ├── nyu_fusion.cpython-38.pyc │ ├── nyu_utils.cpython-38.pyc │ ├── transform_.cpython-38.pyc │ └── transform_3d.cpython-38.pyc ├── dataset_scannet_occ_openocc.py ├── dataset_scannet_online_occ.py ├── dataset_wrapper_scannet_occ.py ├── dataset_wrapper_scannet_online.py ├── nyu_fusion.py ├── nyu_utils.py ├── transform_.py └── transform_3d.py ├── docs └── installation.md ├── loss ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── base_loss.cpython-38.pyc │ ├── ce_loss.cpython-38.pyc │ ├── depth_loss.cpython-38.pyc │ ├── emb_loss.cpython-38.pyc │ ├── focal_loss.cpython-38.pyc │ ├── l1_loss.cpython-38.pyc │ ├── l2_loss.cpython-38.pyc │ ├── lovasz_loss.cpython-38.pyc │ ├── multi_loss.cpython-38.pyc │ ├── plan_reg_loss.cpython-38.pyc │ └── sem_geo_loss.cpython-38.pyc ├── base_loss.py ├── ce_loss.py ├── depth_loss.py ├── emb_loss.py ├── focal_loss.py ├── l1_loss.py ├── l2_loss.py ├── lovasz_loss.py ├── multi_loss.py ├── plan_reg_loss.py ├── relation_loss.py └── sem_geo_loss.py ├── model ├── __init__.py ├── __pycache__ │ └── __init__.cpython-38.pyc ├── backbone │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── swinfusion.cpython-38.pyc │ └── swinfusion.py ├── depthbranch │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── depthbranch.cpython-38.pyc │ │ ├── depthnet.cpython-38.pyc │ │ └── unet2d.cpython-38.pyc │ ├── depthbranch.py │ ├── depthnet.py │ └── unet2d.py ├── encoder │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── base_encoder.cpython-38.pyc │ ├── base_encoder.py │ ├── bevformer │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── bevformer_encoder.cpython-38.pyc │ │ │ ├── bevformer_encoder_layer.cpython-38.pyc │ │ │ ├── bevformer_pos_embed.cpython-38.pyc │ │ │ ├── mappings.cpython-38.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── attention │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── bev_self_attention.cpython-38.pyc │ │ │ │ └── image_cross_attention.cpython-38.pyc │ │ │ ├── bev_self_attention.py │ │ │ └── image_cross_attention.py │ │ ├── bevformer_encoder.py │ │ ├── bevformer_encoder_layer.py │ │ ├── bevformer_pos_embed.py │ │ ├── mappings.py │ │ └── utils.py │ ├── gaussianformer │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── confidence_refine_layer.cpython-38.pyc │ │ │ ├── deformable_layer.cpython-38.pyc │ │ │ ├── delta_refine_layer.cpython-38.pyc │ │ │ ├── frozen_refine_layer.cpython-38.pyc │ │ │ ├── gaussian_encoder_layer.cpython-38.pyc │ │ │ ├── gaussianformer.cpython-38.pyc │ │ │ ├── gaussianformer_online.cpython-38.pyc │ │ │ ├── refine_layer.cpython-38.pyc │ │ │ ├── spconv_layer.cpython-38.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── confidence_refine_layer.py │ │ ├── deformable_layer.py │ │ ├── delta_refine_layer.py │ │ ├── frozen_refine_layer.py │ │ ├── gaussian_encoder_layer.py │ │ ├── gaussianformer.py │ │ ├── gaussianformer_online.py │ │ ├── ops │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── deformable_aggregation.cpython-38.pyc │ │ │ ├── build │ │ │ │ ├── lib.linux-x86_64-3.8 │ │ │ │ │ └── deformable_aggregation_ext.cpython-38-x86_64-linux-gnu.so │ │ │ │ └── temp.linux-x86_64-3.8 │ │ │ │ │ ├── .ninja_deps │ │ │ │ │ ├── .ninja_log │ │ │ │ │ ├── build.ninja │ │ │ │ │ └── src │ │ │ │ │ ├── deformable_aggregation.o │ │ │ │ │ └── deformable_aggregation_cuda.o │ │ │ ├── deformable_aggregation.py │ │ │ ├── deformable_aggregation_ext.cpython-38-x86_64-linux-gnu.so │ │ │ ├── deformable_aggregation_ext.egg-info │ │ │ │ ├── PKG-INFO │ │ │ │ ├── SOURCES.txt │ │ │ │ ├── dependency_links.txt │ │ │ │ └── top_level.txt │ │ │ ├── setup.py │ │ │ └── src │ │ │ │ ├── deformable_aggregation.cpp │ │ │ │ └── deformable_aggregation_cuda.cu │ │ ├── refine_layer.py │ │ ├── spconv_layer.py │ │ └── utils.py │ └── tpvformer │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── tpvformer_encoder.cpython-38.pyc │ │ ├── tpvformer_encoder_layer.cpython-38.pyc │ │ ├── tpvformer_pos_embed.cpython-38.pyc │ │ └── utils.cpython-38.pyc │ │ ├── attention │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── cross_view_hybrid_attention.cpython-38.pyc │ │ │ └── image_cross_attention.cpython-38.pyc │ │ ├── cross_view_hybrid_attention.py │ │ └── image_cross_attention.py │ │ ├── modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── camera_se_net.cpython-38.pyc │ │ │ ├── split_fpn.cpython-38.pyc │ │ │ └── split_norm.cpython-38.pyc │ │ ├── camera_se_net.py │ │ ├── split_fpn.py │ │ └── split_norm.py │ │ ├── tpvformer_encoder.py │ │ ├── tpvformer_encoder_layer.py │ │ ├── tpvformer_pos_embed.py │ │ └── utils.py ├── head │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── bev_occ_head.cpython-38.pyc │ │ ├── bev_pts_head.cpython-38.pyc │ │ └── bev_render_head.cpython-38.pyc │ ├── bev_occ_head.py │ ├── bev_pts_head.py │ ├── bev_render_head.py │ └── gaussian_occ_head │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── gaussian_occ_head.cpython-38.pyc │ │ ├── gaussian_occ_head_global.cpython-38.pyc │ │ └── gaussian_occ_head_local.cpython-38.pyc │ │ ├── gaussian_occ_head.py │ │ ├── gaussian_occ_head_global.py │ │ ├── gaussian_occ_head_local.py │ │ └── ops │ │ └── localagg │ │ ├── CMakeLists.txt │ │ ├── build │ │ ├── lib.linux-x86_64-3.8 │ │ │ └── local_aggregate │ │ │ │ └── _C.cpython-38-x86_64-linux-gnu.so │ │ └── temp.linux-x86_64-3.8 │ │ │ ├── .ninja_deps │ │ │ ├── .ninja_log │ │ │ ├── build.ninja │ │ │ ├── ext.o │ │ │ ├── local_aggregate.o │ │ │ └── src │ │ │ ├── aggregator_impl.o │ │ │ ├── backward.o │ │ │ └── forward.o │ │ ├── ext.cpp │ │ ├── local_aggregate.cu │ │ ├── local_aggregate.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ └── top_level.txt │ │ ├── local_aggregate.h │ │ ├── local_aggregate │ │ ├── _C.cpython-38-x86_64-linux-gnu.so │ │ ├── __init__.py │ │ └── __pycache__ │ │ │ └── __init__.cpython-38.pyc │ │ ├── setup.py │ │ └── src │ │ ├── aggregator.h │ │ ├── aggregator_impl.cu │ │ ├── aggregator_impl.h │ │ ├── auxiliary.h │ │ ├── backward.cu │ │ ├── backward.h │ │ ├── config.h │ │ ├── forward.cu │ │ └── forward.h ├── lifter │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── base_lifter.cpython-38.pyc │ │ ├── bev_query_lifter.cpython-38.pyc │ │ ├── gaussian_lifter.cpython-38.pyc │ │ ├── gaussian_lifter_naivedepth.cpython-38.pyc │ │ ├── gaussian_lifter_nodepth.cpython-38.pyc │ │ ├── gaussian_lifter_online.cpython-38.pyc │ │ ├── gaussian_lifter_online_nodepth.cpython-38.pyc │ │ ├── gaussian_new_lifter.cpython-38.pyc │ │ ├── gaussian_new_lifter_online.cpython-38.pyc │ │ ├── tpv_pos_lifter.cpython-38.pyc │ │ └── tpv_query_lifter.cpython-38.pyc │ ├── base_lifter.py │ ├── bev_query_lifter.py │ ├── gaussian_new_lifter.py │ ├── gaussian_new_lifter_online.py │ ├── tpv_pos_lifter.py │ └── tpv_query_lifter.py ├── neck │ ├── __init__.py │ └── __pycache__ │ │ └── __init__.cpython-38.pyc └── segmentor │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ └── bev_segmentor.cpython-38.pyc │ ├── bev_segmentor.py │ └── gaussian_segmentor │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── gaussian_depthnet.cpython-38.pyc │ ├── gaussian_segmentor.cpython-38.pyc │ └── gaussian_segmentor_online.cpython-38.pyc │ ├── gaussian_segmentor.py │ └── gaussian_segmentor_online.py ├── readme.md ├── requirements.txt ├── train_embodied.py ├── train_mono.py ├── train_utils.py ├── utils ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── iou_as_iso.cpython-38.pyc │ ├── iou_eval.cpython-38.pyc │ ├── load_save_util.cpython-38.pyc │ ├── loss_record.cpython-38.pyc │ └── 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