├── .gitignore ├── README.md ├── assets └── pipeline.png ├── bbq ├── __init__.py ├── datasets │ ├── __init__.py │ └── datasets.py ├── grounding │ ├── __init__.py │ ├── llm_interface.py │ └── utils.py ├── models │ ├── __init__.py │ ├── dino.py │ ├── llava.py │ └── masks │ │ ├── __init__.py │ │ ├── masks_generator.py │ │ ├── mobile_sam.py │ │ └── sam.py └── objects_map │ ├── __init__.py │ ├── describer.py │ ├── detections_assembler.py │ ├── nodes_constructor.py │ ├── objects_associator.py │ ├── projector.py │ └── utils │ ├── __init__.py │ ├── objects.py │ ├── postprocessing.py │ ├── similarities.py │ └── structures.py ├── docker ├── Dockerfile ├── build.sh ├── into.sh ├── start.sh └── stop.sh ├── evaluation └── object_grounding │ ├── README.md │ ├── data │ ├── bbq │ │ ├── 09.06.2024_scannet_scene0011_00.json │ │ ├── 09.06.2024_scannet_scene0030_00.json │ │ ├── 09.06.2024_scannet_scene0046_00.json │ │ ├── 09.06.2024_scannet_scene0086_00.json │ │ ├── 09.06.2024_scannet_scene0222_00.json │ │ ├── 09.06.2024_scannet_scene0378_00.json │ │ ├── 09.06.2024_scannet_scene0389_00.json │ │ └── 09.06.2024_scannet_scene0435_00.json │ ├── scannet │ │ ├── ScanRefer_sample │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── nr3d_all_types_of_queries │ │ │ ├── nr3d_filtered.csv │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── scannetv2-labels.combined.tsv │ │ ├── sr3d+_above │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── sr3d+_all_queries │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── sr3d+_back │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── sr3d+_below │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── sr3d+_between │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── sr3d+_closest │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── sr3d+_farthest │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── sr3d+_front │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── sr3d+_left │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── sr3d+_right │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ ├── sr3d+_supported │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ │ └── sr3d+_supporting │ │ │ ├── scene0011_00_annotation.json │ │ │ ├── scene0030_00_annotation.json │ │ │ ├── scene0046_00_annotation.json │ │ │ ├── scene0086_00_annotation.json │ │ │ ├── scene0222_00_annotation.json │ │ │ ├── scene0378_00_annotation.json │ │ │ ├── scene0389_00_annotation.json │ │ │ └── scene0435_00_annotation.json │ ├── scanrefer_unique_multiple_lookup.json │ └── scene_description_unaligned_gt │ │ ├── scene0011_00_scene_description_unaligned.json │ │ ├── scene0030_00_scene_description_unaligned.json │ │ ├── scene0046_00_scene_description_unaligned.json │ │ ├── scene0086_00_scene_description_unaligned.json │ │ ├── scene0222_00_scene_description_unaligned.json │ │ ├── scene0378_00_scene_description_unaligned.json │ │ ├── scene0389_00_scene_description_unaligned.json │ │ └── scene0435_00_scene_description_unaligned.json │ ├── gt_scripts │ ├── evaluation │ │ └── recall_nr3d.py │ └── llm_inference │ │ ├── object_grounding_stage1_nr3d.py │ │ ├── object_grounding_stage2_nr3d_metric.py │ │ ├── object_grounding_stage2_nr3d_no_edges.py │ │ ├── object_grounding_stage2_nr3d_semantic.py │ │ └── object_grounding_stage2_nr3d_semantic_and_metric.py │ └── pred_scripts │ ├── evaluation │ ├── compute_accuracy_bbq_objects_nr3d.py │ ├── compute_accuracy_bbq_objects_scanrefer.py │ └── compute_accuracy_bbq_objects_sr3d.py │ └── llm_inference │ ├── nr3d │ ├── object_grounding_semantic_and_metric_edges_bbq │ │ ├── check_batch.py │ │ ├── prepare_batch_input_nr3d.py │ │ ├── retrieve_batch.py │ │ └── send_batchapi.py │ └── select_relevant_objects_bbq │ │ ├── check_batch.py │ │ ├── prepare_batch_input_nr3d.py │ │ ├── retrieve_batch.py │ │ └── send_batchapi.py │ ├── scanrefer │ ├── object_grounding_semantic_and_metric_edges_bbq │ │ ├── check_batch.py │ │ ├── prepare_batch_input_scanrefer_bbq.py │ │ ├── retrieve_batch.py │ │ └── send_batchapi.py │ └── select_relevant_objects_bbq │ │ ├── check_batch.py │ │ ├── prepare_batch_input_scanrefer.py │ │ ├── retrieve_batch.py │ │ └── send_batchapi.py │ └── sr3d │ ├── object_grounding_semantic_and_metric_edges_bbq │ ├── check_batch.py │ ├── prepare_batch_input_sr3d.py │ ├── retrieve_batch.py │ └── send_batchapi.py │ └── select_relevant_objects_bbq │ ├── check_batch.py │ ├── prepare_batch_input_sr3d.py │ ├── retrieve_batch.py │ └── send_batchapi.py ├── examples ├── configs │ ├── replica │ │ └── room0.yaml │ └── scannet │ │ ├── scene0011_00.yaml │ │ ├── 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