├── .gitignore ├── LICENSE ├── README.md ├── cfg_train.py ├── cfgs └── release │ ├── backbone.yaml │ ├── backbone_multi_frames_2.yaml │ ├── dsnet.yaml │ ├── dsnet_multi_frames_2.yaml │ └── dsnet_multi_frames_tracking_2.yaml ├── data └── README.md ├── dataloader ├── __init__.py └── dataset.py ├── imgs ├── colab-2020-11-16.png └── teaser.png ├── network ├── __init__.py ├── loss │ ├── instance_losses.py │ └── lovasz_losses.py ├── model_zoo.py └── modules │ ├── BEV_Unet.py │ ├── PointNet.py │ ├── pytorch_meanshift.py │ └── spconv_unet.py ├── scripts └── release │ ├── 4d-dsnet │ ├── test_dsnet_multi_frames_tracking_2.sh │ ├── train_backbone_multi_frames_2.sh │ ├── train_dsnet_multi_frames_2.sh │ └── val_dsnet_multi_frames_tracking_2.sh │ ├── backbone │ ├── train_backbone_pytorch_dist.sh │ ├── train_backbone_slurm_dist.sh │ ├── val_backbone_pytorch_dist.sh │ └── val_backbone_slurm_dist.sh │ └── dsnet │ ├── test_dsnet_pytorch_dist.sh │ ├── test_dsnet_slurm_dist.sh │ ├── 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