├── .env.example ├── .github ├── ISSUE_TEMPLATE │ ├── 0-bug-report.yaml │ ├── 1-feature-request.yaml │ ├── 2-documentation.yaml │ ├── 3-refactor.yaml │ └── config.yaml ├── PULL_REQUEST_TEMPLATE.md ├── dependabot.yml └── workflows │ ├── code-quality-main.yaml │ ├── code-quality-pr.yaml │ └── test.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .project-root ├── CHANGELOG.md ├── CITATION.cff ├── LICENSE ├── README.md ├── configs ├── callbacks │ ├── default.yaml │ ├── early_stopping.yaml │ ├── gradient_accumulator.yaml │ ├── lr_monitor.yaml │ ├── model_checkpoint.yaml │ ├── model_summary.yaml │ ├── none.yaml │ └── rich_progress_bar.yaml ├── datamodule │ ├── panoptic │ │ ├── dales.yaml │ │ ├── dales_nano.yaml │ │ ├── kitti360.yaml │ │ ├── kitti360_nano.yaml │ │ ├── s3dis.yaml │ │ ├── s3dis_nano.yaml │ │ ├── s3dis_room.yaml │ │ ├── s3dis_with_stuff.yaml │ │ ├── s3dis_with_stuff_nano.yaml │ │ ├── scannet.yaml │ │ └── scannet_nano.yaml │ ├── partition │ │ ├── dales_ezsp.yaml │ │ ├── default_ezsp.yaml │ │ ├── kitti360_ezsp.yaml │ │ └── s3dis_ezsp.yaml │ └── semantic │ │ ├── _features.yaml │ │ ├── dales.yaml │ │ ├── dales_ezsp.yaml │ │ ├── dales_nano.yaml │ │ ├── default.yaml │ │ ├── default_ezsp.yaml │ │ ├── kitti360.yaml │ │ ├── kitti360_ezsp.yaml │ │ ├── kitti360_nano.yaml │ │ ├── s3dis.yaml │ │ ├── s3dis_ezsp.yaml │ │ ├── s3dis_nano.yaml │ │ ├── s3dis_room.yaml │ │ ├── scannet.yaml │ │ └── scannet_nano.yaml ├── debug │ ├── default.yaml │ ├── fdr.yaml │ ├── limit.yaml │ ├── overfit.yaml │ ├── profiler.yaml │ └── pytorch_profiler.yaml ├── eval.yaml ├── experiment │ ├── panoptic │ │ ├── dales.yaml │ │ ├── dales_11g.yaml │ │ ├── dales_nano.yaml │ │ ├── kitti360.yaml │ │ ├── kitti360_11g.yaml │ │ ├── kitti360_nano.yaml │ │ ├── s3dis.yaml │ │ ├── s3dis_11g.yaml │ │ ├── s3dis_nano.yaml │ │ ├── s3dis_room.yaml │ │ ├── s3dis_with_stuff.yaml │ │ ├── s3dis_with_stuff_11g.yaml │ │ ├── s3dis_with_stuff_nano.yaml │ │ ├── scannet.yaml │ │ ├── scannet_11g.yaml │ │ └── scannet_nano.yaml │ ├── partition │ │ ├── dales_ezsp.yaml │ │ ├── kitti360_ezsp.yaml │ │ └── s3dis_ezsp.yaml │ └── semantic │ │ ├── dales.yaml │ │ ├── dales_11g.yaml │ │ ├── dales_ezsp.yaml │ │ ├── dales_nano.yaml │ │ ├── default_ezsp.yaml │ │ ├── kitti360.yaml │ │ ├── kitti360_11g.yaml │ │ ├── kitti360_ezsp.yaml │ │ ├── kitti360_nano.yaml │ │ ├── s3dis.yaml │ │ ├── s3dis_11g.yaml │ │ ├── s3dis_ezsp.yaml │ │ ├── s3dis_nano.yaml │ │ ├── s3dis_room.yaml │ │ ├── scannet.yaml │ │ ├── scannet_11g.yaml │ │ └── scannet_nano.yaml ├── extras │ └── default.yaml ├── hparams_search │ └── mnist_optuna.yaml ├── hydra │ └── default.yaml ├── local │ └── .gitkeep ├── logger │ ├── comet.yaml │ ├── csv.yaml │ ├── many_loggers.yaml │ ├── mlflow.yaml │ ├── neptune.yaml │ ├── tensorboard.yaml │ └── wandb.yaml ├── model │ ├── panoptic │ │ ├── _instance.yaml │ │ ├── nano-2.yaml │ │ ├── nano-3.yaml │ │ ├── spt-2.yaml │ │ ├── spt-3.yaml │ │ └── spt.yaml │ ├── partition │ │ ├── _point_cnn.yaml │ │ └── default_ezsp.yaml │ └── semantic │ │ ├── _attention.yaml │ │ ├── _down.yaml │ │ ├── _point.yaml │ │ ├── _point_cnn.yaml │ │ ├── _up.yaml │ │ ├── default.yaml │ │ ├── nano-2.yaml │ │ ├── nano-3.yaml │ │ ├── spt-0.yaml │ │ ├── spt-1.yaml │ │ ├── spt-2.yaml │ │ ├── spt-3.yaml │ │ └── spt.yaml ├── paths │ └── default.yaml ├── train.yaml └── trainer │ ├── cpu.yaml │ ├── ddp.yaml │ ├── ddp_sim.yaml │ ├── default.yaml │ ├── gpu.yaml │ └── mps.yaml ├── docs ├── data_structures.md ├── datasets.md ├── logging.md └── visualization.md ├── install.sh ├── media ├── dales │ ├── input.png │ ├── pano_gt.png │ ├── sem_gt.png │ └── sem_gt_demo.png ├── kitti360 │ ├── input.png │ ├── pano_gt.png │ └── sem_gt.png ├── s3dis │ ├── input.png │ ├── pano_gt.png │ └── sem_gt.png ├── scannet │ ├── input.png │ ├── pano_gt.png │ └── sem_gt.png ├── superpoint_transformer_tutorial.pdf ├── teaser_ezsp.png ├── teaser_spt.jpg ├── teaser_spt.png ├── teaser_supercluster.png ├── visualizations.7z ├── viz_100k.png ├── viz_10k.png ├── viz_errors.png ├── viz_p2.png ├── viz_pos.png ├── viz_radius_center.png ├── viz_rgb.png ├── viz_select.png ├── viz_x.png └── viz_y.png ├── notebooks ├── demo.ipynb ├── demo_nag.ipynb ├── demo_nag_v3.h5 ├── demo_panoptic_parametrization.ipynb └── superpoint_transformer_tutorial.ipynb ├── pyproject.toml ├── scripts └── schedule.sh ├── src ├── __init__.py ├── data │ ├── __init__.py │ ├── cluster.py │ ├── csr.py │ ├── data.py │ ├── instance.py │ ├── nag.py │ └── tensor_holder.py ├── datamodules │ ├── __init__.py │ ├── base.py │ ├── components │ │ └── __init__.py │ ├── dales.py │ ├── kitti360.py │ ├── s3dis.py │ ├── s3dis_room.py │ └── scannet.py ├── datasets │ ├── __init__.py │ ├── base.py │ ├── dales.py │ ├── dales_config.py │ ├── kitti360.py │ ├── kitti360_config.py │ ├── s3dis.py │ ├── s3dis_config.py │ ├── s3dis_room.py │ ├── scannet.py │ └── scannet_config.py ├── debug.py ├── dependencies │ └── __init__.py ├── eval.py ├── loader │ ├── __init__.py │ └── dataloader.py ├── loss │ ├── __init__.py │ ├── bce.py │ ├── focal.py │ ├── l1.py │ ├── l2.py │ ├── lovasz.py │ ├── multi.py │ ├── partition_criterion.py │ └── weighted.py ├── metrics │ ├── __init__.py │ ├── mean_average_precision.py │ ├── panoptic.py │ ├── semantic.py │ └── weighted_li.py ├── models │ ├── __init__.py │ ├── components │ │ ├── __init__.py │ │ ├── mlp.py │ │ └── spt.py │ ├── panoptic.py │ └── semantic.py ├── nn │ ├── __init__.py │ ├── attention.py │ ├── dropout.py │ ├── fusion.py │ ├── instance.py │ ├── mlp.py │ ├── norm.py │ ├── pool.py │ ├── position_encoding.py │ ├── sparse.py │ ├── stage.py │ ├── transformer.py │ └── unpool.py ├── optim │ ├── __init__.py │ └── lr_scheduler.py ├── train.py ├── transforms │ ├── __init__.py │ ├── data.py │ ├── debug.py │ ├── device.py │ ├── geometry.py │ ├── graph.py │ ├── instance.py │ ├── neighbors.py │ ├── partition.py │ ├── point.py │ ├── sampling.py │ └── transforms.py ├── utils │ ├── __init__.py │ ├── backwards_compatibility │ │ ├── add_version_to_checkpoint.py │ │ └── convert_nag_v2_to_v3.py │ ├── batch_utils.py │ ├── color.py │ ├── components_merge.py │ ├── configs.py │ ├── connected_components.py │ ├── cpu.py │ ├── dict.py │ ├── download.py │ ├── dropout.py │ ├── edge.py │ ├── encoding.py │ ├── features.py │ ├── geometry.py │ ├── graph.py │ ├── ground.py │ ├── histogram.py │ ├── hydra.py │ ├── instance.py │ ├── io.py │ ├── keys.py │ ├── list.py │ ├── loss.py │ ├── memory.py │ ├── multiprocessing.py │ ├── neighbors.py │ ├── nn.py │ ├── output_panoptic.py │ ├── output_partition.py │ ├── output_semantic.py │ ├── parameter.py │ ├── partition.py │ ├── point.py │ ├── pylogger.py │ ├── rich_utils.py │ ├── scannet.py │ ├── scatter.py │ ├── semantic.py │ ├── sparse.py │ ├── tensor.py │ ├── time.py │ ├── utils.py │ ├── version.py │ ├── wandb.py │ └── widgets.py └── visualization │ ├── __init__.py │ └── visualization.py └── tests ├── __init__.py ├── conftest.py ├── helpers ├── __init__.py ├── package_available.py ├── 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