├── .gitignore ├── Dockerfile ├── LICENSE ├── README.md ├── doc ├── dataset_format.md ├── decode_feature_example_tiny_limgftl_labeled.png ├── more_decoding_visualization.png └── theia_overview.gif ├── feature_stats ├── imagenet_mean_LiheYoung_depth-anything-large-hf.npy ├── imagenet_mean_facebook_dinov2-large.npy ├── imagenet_mean_facebook_sam-vit-huge.npy ├── imagenet_mean_google_vit-huge-patch14-224-in21k.npy ├── imagenet_mean_openai_clip-vit-large-patch14.npy ├── imagenet_var_LiheYoung_depth-anything-large-hf.npy ├── imagenet_var_facebook_dinov2-large.npy ├── imagenet_var_facebook_sam-vit-huge.npy ├── imagenet_var_google_vit-huge-patch14-224-in21k.npy └── imagenet_var_openai_clip-vit-large-patch14.npy ├── media └── example_video_to_visualize.mp4 ├── pyproject.toml ├── setup.py └── src └── theia ├── __init__.py ├── configs ├── dataset │ ├── ego4d.yaml │ ├── epic_kitchen.yaml │ ├── image_video_default.yaml │ ├── image_video_mix.yaml │ ├── imagenet.yaml │ ├── oxe_octo_mix.yaml │ └── ssv2.yaml ├── logging │ └── default.yaml ├── model │ ├── backbone │ │ ├── deit.yaml │ │ ├── deit_nocls.yaml │ │ └── deit_reg.yaml │ └── translator │ │ ├── conv.yaml │ │ ├── lconv.yaml │ │ ├── mlp.yaml │ │ └── transformer.yaml ├── train_rvfm_imagenet.yaml └── training │ ├── frame_level.yaml │ └── target_models │ ├── cdds.yaml │ ├── cddsv.yaml │ ├── cddv.yaml │ ├── cdesv.yaml │ ├── cdis.yaml │ ├── cdisv.yaml │ ├── cdiv.yaml │ ├── clip.yaml │ ├── ddsv.yaml │ ├── depth_anything.yaml │ ├── dinov2.yaml │ ├── sam.yaml │ └── vit.yaml ├── dataset ├── __init__.py ├── data_utils.py ├── image │ ├── __init__.py │ └── image_common.py ├── oxe │ ├── __init__.py │ ├── oxe_common.py │ ├── oxe_mixes.py │ └── oxe_transforms.py └── video │ ├── __init__.py │ └── video_common.py ├── decoding ├── __init__.py ├── decode.py ├── depth_anything.py ├── dinov2.py └── sam.py ├── example └── decode_to_vfms.ipynb ├── foundation_models ├── __init__.py ├── common.py ├── vision_language_models │ ├── __init__.py │ ├── clip.py │ └── llava.py └── vision_models │ ├── __init__.py │ ├── deit.py │ ├── depth_anything.py │ ├── dinov2.py │ ├── sam.py │ └── vit.py ├── lr_schedulers ├── __init__.py └── lr_schedulers.py ├── models ├── __init__.py ├── activations.py ├── adapter_heads.py ├── backbones.py ├── feature_translators.py ├── rvfm.py ├── utils.py └── vfm.py ├── optimizers ├── __init__.py └── utils.py ├── preprocessing └── feature_extraction_core │ ├── __init__.py │ ├── models.py │ └── webdataset_utils.py ├── scripts ├── decoding │ └── decoding_example.py ├── preprocessing │ ├── calc_feature_mean.py │ ├── check_feature.py │ ├── feature_extraction.py │ ├── image_datasets │ │ └── organize_imagenet_webdataset.py │ ├── iv_feature_extraction.sh │ ├── split_dataset.py │ └── video_datasets │ │ └── subsampling_videos.py └── train │ ├── sanity_check_train_rvfm.sh │ └── train_rvfm.py └── utils ├── __init__.py ├── cortexbench ├── __init__.py ├── load_model.py ├── policy_heads.py ├── transforms.py └── trifinger │ ├── 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