├── .DS_Store ├── .gitattributes ├── .gitignore ├── LICENSE ├── assets ├── .DS_Store ├── comparisons.png ├── comparisons_gs2.png ├── demo.gif ├── demo_gs2.gif ├── legend.png ├── logo.png ├── overview.png ├── overview_gs2.png └── teaser.png ├── config ├── _base_ │ ├── misc.py │ ├── model.py │ └── surroundocc.py ├── nuscenes_gs144000.py ├── nuscenes_gs25600_solid.py └── prob │ ├── nuscenes_gs12800.py │ ├── nuscenes_gs25600.py │ └── nuscenes_gs6400.py ├── dataset ├── __init__.py ├── dataset.py ├── sampler.py ├── transform_3d.py └── utils.py ├── docs └── installation.md ├── eval.py ├── loss ├── __init__.py ├── base_loss.py ├── bce_loss.py ├── multi_loss.py ├── occupancy_loss.py └── utils │ └── lovasz_softmax.py ├── misc ├── checkpoint_util.py ├── metric_util.py └── tb_wrapper.py ├── model ├── __init__.py ├── backbone │ └── __init__.py ├── encoder │ ├── __init__.py │ ├── base_encoder.py │ └── gaussian_encoder │ │ ├── __init__.py │ │ ├── anchor_encoder_module.py │ │ ├── deformable_module.py │ │ ├── ffn_module.py │ │ ├── gaussian_encoder.py │ │ ├── ops │ │ ├── __init__.py │ │ ├── deformable_aggregation.py │ │ ├── setup.py │ │ └── src │ │ │ ├── deformable_aggregation.cpp │ │ │ └── deformable_aggregation_cuda.cu │ │ ├── refine_module.py │ │ ├── refine_module_v2.py │ │ ├── spconv3d_module.py │ │ └── utils.py ├── head │ ├── __init__.py │ ├── base_head.py │ ├── gaussian_head.py │ ├── localagg │ │ ├── CMakeLists.txt │ │ ├── debug.py │ │ ├── ext.cpp │ │ ├── local_aggregate.cu │ │ ├── local_aggregate.h │ │ ├── local_aggregate │ │ │ └── __init__.py │ │ ├── setup.py │ │ └── src │ │ │ ├── aggregator.h │ │ │ ├── aggregator_impl.cu │ │ │ ├── aggregator_impl.h │ │ │ ├── auxiliary.h │ │ │ ├── backward.cu │ │ │ ├── backward.h │ │ │ ├── config.h │ │ │ ├── forward.cu │ │ │ └── forward.h │ ├── localagg_prob │ │ ├── CMakeLists.txt │ │ ├── debug.py │ │ ├── ext.cpp │ │ ├── local_aggregate.cu │ │ ├── local_aggregate.h │ │ ├── local_aggregate_prob │ │ │ └── __init__.py │ │ ├── setup.py │ │ └── src │ │ │ ├── aggregator.h │ │ │ ├── aggregator_impl.cu │ │ │ ├── aggregator_impl.h │ │ │ ├── auxiliary.h │ │ │ ├── backward.cu │ │ │ ├── backward.h │ │ │ ├── config.h │ │ │ ├── forward.cu │ │ │ └── forward.h │ └── localagg_prob_fast │ │ ├── CMakeLists.txt │ │ ├── debug.py │ │ ├── ext.cpp │ │ ├── local_aggregate.cu │ │ ├── local_aggregate.h │ │ ├── local_aggregate_prob_fast │ │ └── __init__.py │ │ ├── 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 │ ├── base_lifter.py │ ├── gaussian_initializer │ │ └── resnet_secondfpn.py │ ├── gaussian_lifter.py │ └── gaussian_lifter_v2.py ├── neck │ └── __init__.py ├── segmentor │ ├── __init__.py │ ├── base_segmentor.py │ └── bev_segmentor.py └── utils │ ├── safe_ops.py │ ├── sampler.py │ └── utils.py ├── readme.md ├── train.py ├── vis.py └── visualize.py 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