├── .gitignore ├── Dockerfile ├── README.md ├── __init__.py ├── configs ├── nuscenes.yaml ├── resnet_nuscenes.yaml ├── resnet_semantickitti.yaml ├── semantic-kitti-trainval.yaml └── semantic-kitti.yaml ├── dataset └── utils_nuscenes │ ├── check.sh │ ├── preprocess_nuScenes.py │ ├── submission.json │ └── validate_submission.py ├── environment.yml ├── figs ├── framework.png ├── gfm.png └── vis.gif ├── kernels └── dispositions │ └── k_015_center_3D.ply ├── libs ├── __init__.py ├── dataloader │ ├── SemanticKitti.py │ ├── __init__.py │ └── nuScenes.py └── utils │ ├── __init__.py │ ├── cosine_schedule.py │ ├── laserscan.py │ ├── lovasz_losses.py │ ├── ohem.py │ ├── sampler.py │ ├── tools.py │ └── training.py ├── models ├── gfnet.py ├── kpconv │ ├── __init__.py │ ├── blocks.py │ └── kernels │ │ └── kernel_points.py ├── polar_net.py ├── range_net.py └── unet_circular.py ├── scripts ├── infer.sh ├── infer_nuscenes.sh ├── start.sh └── start_nuscenes.sh ├── test.py ├── test_nuscenes.py ├── 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